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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 11:20:33 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-12 11:20:33 +0200 |
| commit | 31ecc4d5df16e41e397d689e794c72c36f8c3233 (patch) | |
| tree | c3b83ec984081a17e71379bb1ea017cbef75b0b7 /apps/sensors | |
| parent | cb57fdb28c35f6c472a6b21bc66e96cbf5d45c82 (diff) | |
| download | px4-firmware-31ecc4d5df16e41e397d689e794c72c36f8c3233.tar.gz px4-firmware-31ecc4d5df16e41e397d689e794c72c36f8c3233.tar.bz2 px4-firmware-31ecc4d5df16e41e397d689e794c72c36f8c3233.zip | |
Working on correct RC outputs without magic numbers
Diffstat (limited to 'apps/sensors')
| -rw-r--r-- | apps/sensors/sensors.cpp | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 3adf280e5..fae19b12a 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -964,7 +964,7 @@ Sensors::ppm_poll() _rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]); } else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) { /* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */ - _rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i])); + _rc.chan[i].scaled = -1.0f + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i])); } else { /* in the configured dead zone, output zero */ @@ -985,22 +985,28 @@ Sensors::ppm_poll() _rc.timestamp = ppm_last_valid_decode; /* roll input - rolling right is stick-wise and rotation-wise positive */ - manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled * _parameters.rc_scale_roll; + 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)) + //manual_control.roll *= _parameters.rc_scale_roll; /* * pitch input - stick down is negative, but stick down is pitching up (pos) in NED, * so reverse sign. */ - manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled * _parameters.rc_scale_pitch; + 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)) + 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)) + manual_control.yaw *= _parameters.rc_scale_yaw; /* throttle input */ manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; |