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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 17:46:15 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 17:46:15 +0200 |
| commit | ffceb378030804fec990dd385a7100cb7685aca2 (patch) | |
| tree | 439aca0c1085587901ec0be4bb7cd213cf9c0b35 /apps/sensors/sensors.cpp | |
| parent | 3536ad801017a0ef552a391bc3ac1d6cd2cb13cf (diff) | |
| download | px4-firmware-ffceb378030804fec990dd385a7100cb7685aca2.tar.gz px4-firmware-ffceb378030804fec990dd385a7100cb7685aca2.tar.bz2 px4-firmware-ffceb378030804fec990dd385a7100cb7685aca2.zip | |
Committing WIP
Diffstat (limited to 'apps/sensors/sensors.cpp')
| -rw-r--r-- | apps/sensors/sensors.cpp | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 01c35301c..97ed14674 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -992,8 +992,9 @@ Sensors::ppm_poll() manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled; if (manual_control.roll < -1.0f) manual_control.roll = -1.0f; if (manual_control.roll > 1.0f) manual_control.roll = 1.0f; - if (!isnan(_parameters.rc_scale_roll) || isinf(_parameters.rc_scale_roll)) + if (!isnan(_parameters.rc_scale_roll) || !isinf(_parameters.rc_scale_roll)) { manual_control.roll *= _parameters.rc_scale_roll; + } /* * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, @@ -1002,15 +1003,17 @@ Sensors::ppm_poll() manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled; if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f; if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f; - if (!isnan(_parameters.rc_scale_pitch) || isinf(_parameters.rc_scale_pitch)) + if (!isnan(_parameters.rc_scale_pitch) || !isinf(_parameters.rc_scale_pitch)) { manual_control.pitch *= _parameters.rc_scale_pitch; + } /* yaw input - stick right is positive and positive rotation */ manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw; if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f; if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f; - if (!isnan(_parameters.rc_scale_yaw) || isinf(_parameters.rc_scale_yaw)) + if (!isnan(_parameters.rc_scale_yaw) || !isinf(_parameters.rc_scale_yaw)) { manual_control.yaw *= _parameters.rc_scale_yaw; + } /* throttle input */ manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; @@ -1081,7 +1084,7 @@ Sensors::task_main() parameter_update_poll(true /* forced */); - /* advertise the SENS_combined topic and make the initial publication */ + /* advertise the sensor_combined topic and make the initial publication */ _sensor_pub = orb_advertise(ORB_ID(sensor_combined), &raw); /* advertise the manual_control topic */ @@ -1169,7 +1172,7 @@ Sensors::start() ASSERT(_sensors_task == -1); /* start the task */ - _sensors_task = task_create("SENS_task", + _sensors_task = task_create("sensors_task", SCHED_PRIORITY_MAX - 5, 4096, /* XXX may be excesssive */ (main_t)&Sensors::task_main_trampoline, |