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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-12 09:21:27 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-12 09:21:39 +0200 |
commit | cde4c9addbe2e8ccd782c53daf519fcf9669626a (patch) | |
tree | b5f0e7acbb96614073dbfc4f26156a38caf37303 /src/modules/commander | |
parent | d9333a199354c0dfbe742cf396a90dc064cc5195 (diff) | |
download | px4-firmware-cde4c9addbe2e8ccd782c53daf519fcf9669626a.tar.gz px4-firmware-cde4c9addbe2e8ccd782c53daf519fcf9669626a.tar.bz2 px4-firmware-cde4c9addbe2e8ccd782c53daf519fcf9669626a.zip |
commander: use new manual control setpoint variable names
Diffstat (limited to 'src/modules/commander')
-rw-r--r-- | src/modules/commander/commander.cpp | 8 | ||||
-rw-r--r-- | src/modules/commander/rc_calibration.cpp | 6 |
2 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dfab9d4d6..fb644a8db 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -367,7 +367,7 @@ static orb_advert_t status_pub; transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy) { transition_result_t arming_res = TRANSITION_NOT_CHANGED; - + // Transition the armed state. By passing mavlink_fd to arming_state_transition it will // output appropriate error messages if the state cannot transition. arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd); @@ -376,7 +376,7 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armed } else if (arming_res == TRANSITION_DENIED) { tune_negative(true); } - + return arming_res; } @@ -1164,7 +1164,7 @@ int commander_thread_main(int argc, char *argv[]) if (status.is_rotary_wing && (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) && (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) && - sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) { + sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) { /* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */ @@ -1182,7 +1182,7 @@ int commander_thread_main(int argc, char *argv[]) /* check if left stick is in lower right position and we're in MANUAL mode -> arm */ if (status.arming_state == ARMING_STATE_STANDBY && - sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) { + sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) { if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) { if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) { print_reject_arm("NOT ARMING: Press safety switch first."); diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index 41f3ca0aa..0776894fb 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd) orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); /* set parameters */ - float p = sp.roll; + float p = sp.y; param_set(param_find("TRIM_ROLL"), &p); - p = sp.pitch; + p = sp.x; param_set(param_find("TRIM_PITCH"), &p); - p = sp.yaw; + p = sp.r; param_set(param_find("TRIM_YAW"), &p); /* store to permanent storage */ |