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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-05 16:06:10 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-05 16:06:10 +0400 |
| commit | b00b70aeb2b7f20e74ca185e357e796f54031640 (patch) | |
| tree | 1fedf77bd0fc805be4184271233085efca9b2dcd /src/modules/sensors/sensors.cpp | |
| parent | 605d7277d8941430589b50ed26d145136c9ab117 (diff) | |
| download | px4-firmware-b00b70aeb2b7f20e74ca185e357e796f54031640.tar.gz px4-firmware-b00b70aeb2b7f20e74ca185e357e796f54031640.tar.bz2 px4-firmware-b00b70aeb2b7f20e74ca185e357e796f54031640.zip | |
manual_control_setpoint: signal_lost flag removed, sensors: bugs fixed
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 36 |
1 files changed, 10 insertions, 26 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 37255c4bf..5b826a919 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -214,7 +214,6 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ struct rc_channels_s _rc; /**< r/c channel data */ - struct manual_control_setpoint_s _manual; /**< manual control setpoint */ struct battery_status_s _battery_status; /**< battery status */ struct baro_report _barometer; /**< barometer data */ struct differential_pressure_s _diff_pres; @@ -468,21 +467,6 @@ Sensors::Sensors() : _battery_current_timestamp(0) { memset(&_rc, 0, sizeof(_rc)); - memset(&_manual, 0, sizeof(_manual)); - - /* set NANs instead of zeroes */ - _manual.roll = NAN; - _manual.pitch = NAN; - _manual.yaw = NAN; - _manual.throttle = NAN; - _manual.flaps = NAN; - _manual.aux1 = NAN; - _manual.aux2 = NAN; - _manual.aux3 = NAN; - _manual.aux4 = NAN; - _manual.aux5 = NAN; - - _manual.signal_lost = true; /* basic r/c parameters */ for (unsigned i = 0; i < _rc_max_chan_count; i++) { @@ -1427,10 +1411,10 @@ Sensors::rc_poll() /* publish manual_control_setpoint topic */ if (_manual_control_pub > 0) { - orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &_manual); + orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual); } else { - _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &_manual); + _manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual); } /* copy from mapped manual control to control group 3 */ @@ -1439,14 +1423,14 @@ Sensors::rc_poll() actuator_group_3.timestamp = rc_input.timestamp_publication; - actuator_group_3.control[0] = _manual.roll; - actuator_group_3.control[1] = _manual.pitch; - actuator_group_3.control[2] = _manual.yaw; - actuator_group_3.control[3] = _manual.throttle; - actuator_group_3.control[4] = _manual.flaps; - actuator_group_3.control[5] = _manual.aux1; - actuator_group_3.control[6] = _manual.aux2; - actuator_group_3.control[7] = _manual.aux3; + actuator_group_3.control[0] = manual.roll; + actuator_group_3.control[1] = manual.pitch; + actuator_group_3.control[2] = manual.yaw; + actuator_group_3.control[3] = manual.throttle; + actuator_group_3.control[4] = manual.flaps; + actuator_group_3.control[5] = manual.aux1; + actuator_group_3.control[6] = manual.aux2; + actuator_group_3.control[7] = manual.aux3; /* publish actuator_controls_3 topic */ if (_actuator_group_3_pub > 0) { |