diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-28 22:48:00 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-28 22:48:00 +0200 |
| commit | a1963805e70f775946abb79501e9dbea68755ee6 (patch) | |
| tree | b9e3de28221eab1405dce98b2ce753ece05f9285 /apps/sensors/sensors.cpp | |
| parent | 5b81a51a82e717846eea823fde9f2a823184f3c0 (diff) | |
| download | px4-firmware-a1963805e70f775946abb79501e9dbea68755ee6.tar.gz px4-firmware-a1963805e70f775946abb79501e9dbea68755ee6.tar.bz2 px4-firmware-a1963805e70f775946abb79501e9dbea68755ee6.zip | |
left debug output active to allow finishing off this issue
Diffstat (limited to 'apps/sensors/sensors.cpp')
| -rw-r--r-- | apps/sensors/sensors.cpp | 22 |
1 files changed, 15 insertions, 7 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 6f982d7c8..2545fc76a 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -174,10 +174,10 @@ private: struct rc_channels_s _rc; /**< r/c channel data */ struct { - int min[_rc_max_chan_count]; - int trim[_rc_max_chan_count]; - int max[_rc_max_chan_count]; - int rev[_rc_max_chan_count]; + float min[_rc_max_chan_count]; + float trim[_rc_max_chan_count]; + float max[_rc_max_chan_count]; + float rev[_rc_max_chan_count]; float gyro_offset[3]; float mag_offset[3]; @@ -347,8 +347,13 @@ Sensors::Sensors() : /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) { + _parameter_handles.min[0] = param_find("RC1_MIN"); + _parameter_handles.max[0] = param_find("RC1_MAX"); + _parameter_handles.trim[0] = param_find("RC1_TRIM"); + _parameter_handles.rev[0] = param_find("RC1_REV"); + /* basic r/c parameters */ - for (unsigned i = 0; i < _rc_max_chan_count; i++) { + for (unsigned i = 1; i < _rc_max_chan_count; i++) { char nbuf[16]; /* min values */ @@ -841,10 +846,13 @@ Sensors::parameter_update_poll(bool forced) _rc.function[3] = _parameters.rc_map_yaw - 1; _rc.function[4] = _parameters.rc_map_mode_sw - 1; - printf("RAW S: %8.4f MID: %d R: %d P: %d\n", _rc.chan[0].scaling_factor, (int)_rc.chan[0].mid, (int)_rc.function[0], (int)_rc.function[1]); - printf("RAW MAN: %8.4f %8.4f\n", _rc.chan[0].scaled, _rc.chan[1].scaled); +#if 1 + printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor*100), (int)(_rc.chan[0].mid*100), (int)_rc.function[0]); + printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor*100), (int)(_rc.chan[1].mid*100), (int)_rc.function[1]); + printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled*100), (int)(_rc.chan[1].scaled*100)); fflush(stdout); usleep(5000); +#endif } } |