diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/3031_phantom | 3 | ||||
| -rw-r--r-- | src/drivers/sf0x/sf0x.cpp | 4 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
3 files changed, 6 insertions, 3 deletions
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom index 31dfe7100..53c48d8aa 100644 --- a/ROMFS/px4fmu_common/init.d/3031_phantom +++ b/ROMFS/px4fmu_common/init.d/3031_phantom @@ -30,6 +30,9 @@ then param set FW_RR_P 0.08 param set FW_R_LIM 50 param set FW_R_RMAX 0 + # Bottom of bay and nominal zero-pitch attitude differ + # the payload bay is pitched up about 7 degrees + param set SENS_BOARD_Y_OFF 7.0 fi set MIXER phantom diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp index b690938e7..d382d08d0 100644 --- a/src/drivers/sf0x/sf0x.cpp +++ b/src/drivers/sf0x/sf0x.cpp @@ -606,7 +606,7 @@ SF0X::collect() si_units = strtod(_linebuf, &end); /* we require at least four characters for a valid number */ - if (end > _linebuf + 4) { + if (end > _linebuf + 3) { valid = true; } else { si_units = -1.0f; @@ -615,7 +615,7 @@ SF0X::collect() } } - debug("val (float): %8.4f, raw: %s, valid: %s\n", (double)si_units, _linebuf, ((valid) ? "OK" : "NO")); + debug("val (float): %8.4f, raw: %s, valid: %s", (double)si_units, _linebuf, ((valid) ? "OK" : "NO")); /* done with this chunk, resetting - even if invalid */ _linebuf_index = 0; diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 522f5caca..c983ac6f9 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -823,7 +823,7 @@ float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, * the measurement is valid * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt */ - if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) { + if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) { return rel_alt_estimated; } |