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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-29 11:00:15 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-29 11:00:15 +0100 |
commit | c652f718c0d2ab78fd80f503d5932ecf526136a9 (patch) | |
tree | 763656259754c8c786ae1577643eecf7d895d9b7 /apps/sensors | |
parent | be85589e48cdc1b297bffe8e492cd7d69f949b4b (diff) | |
download | px4-firmware-c652f718c0d2ab78fd80f503d5932ecf526136a9.tar.gz px4-firmware-c652f718c0d2ab78fd80f503d5932ecf526136a9.tar.bz2 px4-firmware-c652f718c0d2ab78fd80f503d5932ecf526136a9.zip |
Minor fixes, pushing WIP
Diffstat (limited to 'apps/sensors')
-rw-r--r-- | apps/sensors/sensors.cpp | 18 |
1 files changed, 1 insertions, 17 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 10d25d347..c331ec3e3 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -1088,24 +1088,8 @@ Sensors::ppm_poll() manual_control.timestamp = rc_input.timestamp; - // /* check if input needs to be de-mixed */ - // if (_parameters.rc_demix == (int)RC_DEMIX_DELTA) { - // // XXX hardcoded for testing purposes, replace with inverted delta mixer from ROMFS - - // /* roll input - mixed roll and pitch channels */ - // manual_control.roll = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled - _rc.chan[_rc.function[PITCH]].scaled); - // pitch input - mixed roll and pitch channels - // manual_control.pitch = 0.5f * (_rc.chan[_rc.function[ROLL]].scaled + _rc.chan[_rc.function[PITCH]].scaled); - // /* yaw input - stick right is positive and positive rotation */ - // manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled; - // /* throttle input */ - // manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; - - // /* direct pass-through of manual input */ - // } else { - /* roll input - rolling right is stick-wise and rotation-wise positive */ - manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled; + manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); /* * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, * so reverse sign. |