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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-16 13:33:16 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-16 13:33:16 +0200 |
| commit | e95662f505eb45f80036be63940d435e4b4871e1 (patch) | |
| tree | e56dc2f2e0aff386ef8cb48fa0b5b50dd1f55beb /apps | |
| parent | b30e443f282981cbbf836cb087e0d1e0aeb72496 (diff) | |
| download | px4-firmware-e95662f505eb45f80036be63940d435e4b4871e1.tar.gz px4-firmware-e95662f505eb45f80036be63940d435e4b4871e1.tar.bz2 px4-firmware-e95662f505eb45f80036be63940d435e4b4871e1.zip | |
mag cal, scaling of throttle
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/ardrone_control/ardrone_control.c | 2 | ||||
| -rw-r--r-- | apps/commander/commander.c | 10 | ||||
| -rw-r--r-- | apps/sensors/sensors.c | 4 |
3 files changed, 8 insertions, 8 deletions
diff --git a/apps/ardrone_control/ardrone_control.c b/apps/ardrone_control/ardrone_control.c index d457fc2ec..bc5598f9c 100644 --- a/apps/ardrone_control/ardrone_control.c +++ b/apps/ardrone_control/ardrone_control.c @@ -236,7 +236,7 @@ int ardrone_control_main(int argc, char *argv[]) state.state_machine == SYSTEM_STATE_AUTO || state.state_machine == SYSTEM_STATE_MISSION_ABORT || state.state_machine == SYSTEM_STATE_EMCY_LANDING) { - att_sp.thrust = manual.throttle/2.0f; + att_sp.thrust = manual.throttle; } else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) { /* immediately cut off motors */ diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 19fc81f63..21bf91c61 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -306,8 +306,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) calibration_counter++; } else { /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry."); - break; + //mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry."); + //break; } } @@ -376,9 +376,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) printf("\nFINAL:\nmag min: %d\t%d\t%d\nmag max: %d\t%d\t%d\n", (int)min_avg[0], (int)min_avg[1], (int)min_avg[2], (int)max_avg[0], (int)max_avg[1], (int)max_avg[2]); float mag_offset[3]; - mag_offset[0] = (max_avg[0] - min_avg[0])/2; - mag_offset[1] = (max_avg[1] - min_avg[1])/2; - mag_offset[2] = (max_avg[2] - min_avg[2])/2; + mag_offset[0] = (max_avg[0] - min_avg[0]); + mag_offset[1] = (max_avg[1] - min_avg[1]); + mag_offset[2] = (max_avg[2] - min_avg[2]); global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_XOFFSET] = mag_offset[0]; global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET] = mag_offset[1]; diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index d847c4ffc..1506dee1d 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -759,9 +759,9 @@ int sensors_main(int argc, char *argv[]) if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f; /* throttle input */ - manual_control.throttle = rc.chan[rc.function[THROTTLE]].scaled; + manual_control.throttle = rc.chan[rc.function[THROTTLE]].scaled/2.0f; if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f; - if (manual_control.throttle > 2.0f) manual_control.throttle = 2.0f; + if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f; /* mode switch input */ manual_control.override_mode_switch = rc.chan[rc.function[OVERRIDE]].scaled; |