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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 11:41:48 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 11:41:48 +0200 |
| commit | df8fb7d2dc645070ebb5fae3324ac6533f4ab7a3 (patch) | |
| tree | 32269d8abd75d53b7e5a5531bc83fc69b079f6d6 /src/drivers | |
| parent | 0745334ac46c40ed407dc11ebbb7c252e37bcb43 (diff) | |
| parent | f7065dce84118054c68aa87def70e861da73cdfd (diff) | |
| download | px4-firmware-df8fb7d2dc645070ebb5fae3324ac6533f4ab7a3.tar.gz px4-firmware-df8fb7d2dc645070ebb5fae3324ac6533f4ab7a3.tar.bz2 px4-firmware-df8fb7d2dc645070ebb5fae3324ac6533f4ab7a3.zip | |
Merge branch 'ekf_params' of github.com:PX4/Firmware into ekf_params
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/frsky_telemetry/frsky_data.c | 2 | ||||
| -rw-r--r-- | src/drivers/gps/gps.cpp | 6 | ||||
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 2 |
3 files changed, 5 insertions, 5 deletions
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c index cfcf91e3f..57a03bc84 100644 --- a/src/drivers/frsky_telemetry/frsky_data.c +++ b/src/drivers/frsky_telemetry/frsky_data.c @@ -225,7 +225,7 @@ void frsky_send_frame2(int uart) float course = 0, lat = 0, lon = 0, speed = 0, alt = 0; char lat_ns = 0, lon_ew = 0; int sec = 0; - if (global_pos.global_valid) { + if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { time_t time_gps = global_pos.time_gps_usec / 1000000; struct tm *tm_gps = gmtime(&time_gps); diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index a902bdf2f..01be80dce 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -276,14 +276,14 @@ GPS::task_main() _report.timestamp_position = hrt_absolute_time(); _report.lat = (int32_t)47.378301e7f; _report.lon = (int32_t)8.538777e7f; - _report.alt = (int32_t)400e3f; + _report.alt = (int32_t)1200e3f; _report.timestamp_variance = hrt_absolute_time(); _report.s_variance_m_s = 10.0f; _report.p_variance_m = 10.0f; _report.c_variance_rad = 0.1f; _report.fix_type = 3; - _report.eph_m = 3.0f; - _report.epv_m = 7.0f; + _report.eph_m = 0.9f; + _report.epv_m = 1.8f; _report.timestamp_velocity = hrt_absolute_time(); _report.vel_n_m_s = 0.0f; _report.vel_e_m_s = 0.0f; diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index 705e98eea..3cb9abc49 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1015,7 +1015,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1): /* copy the current output value from the channel */ - *(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue; + *(servo_position_t *)arg = Motor[cmd - PWM_SERVO_GET(0)].RawPwmValue; break; |