diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 28 |
1 files changed, 17 insertions, 11 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 65165bbb2..c5954d02a 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -126,6 +126,12 @@ #define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 #endif +#ifdef CONFIG_ARCH_BOARD_AEROCORE +#define ADC_BATTERY_VOLTAGE_CHANNEL 10 +#define ADC_BATTERY_CURRENT_CHANNEL -1 +#define ADC_AIRSPEED_VOLTAGE_CHANNEL -1 +#endif + #define BATT_V_LOWPASS 0.001f #define BATT_V_IGNORE_THRESHOLD 3.5f @@ -797,7 +803,7 @@ Sensors::accel_init() /* set the driver to poll at 1000Hz */ ioctl(fd, SENSORIOCSPOLLRATE, 1000); -#elif CONFIG_ARCH_BOARD_PX4FMU_V2 +#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE /* set the accel internal sampling rate up to at leat 800Hz */ ioctl(fd, ACCELIOCSSAMPLERATE, 800); @@ -806,7 +812,7 @@ Sensors::accel_init() ioctl(fd, SENSORIOCSPOLLRATE, 800); #else -#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 +#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE #endif @@ -1486,10 +1492,10 @@ Sensors::rc_poll() manual.timestamp = rc_input.timestamp_last_signal; /* limit controls */ - manual.roll = get_rc_value(ROLL, -1.0, 1.0); - manual.pitch = get_rc_value(PITCH, -1.0, 1.0); - manual.yaw = get_rc_value(YAW, -1.0, 1.0); - manual.throttle = get_rc_value(THROTTLE, 0.0, 1.0); + manual.y = get_rc_value(ROLL, -1.0, 1.0); + manual.x = get_rc_value(PITCH, -1.0, 1.0); + manual.r = get_rc_value(YAW, -1.0, 1.0); + manual.z = get_rc_value(THROTTLE, 0.0, 1.0); manual.flaps = get_rc_value(FLAPS, -1.0, 1.0); manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0); manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0); @@ -1517,10 +1523,10 @@ Sensors::rc_poll() actuator_group_3.timestamp = rc_input.timestamp_last_signal; - 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[0] = manual.y; + actuator_group_3.control[1] = manual.x; + actuator_group_3.control[2] = manual.r; + actuator_group_3.control[3] = manual.z; actuator_group_3.control[4] = manual.flaps; actuator_group_3.control[5] = manual.aux1; actuator_group_3.control[6] = manual.aux2; @@ -1669,7 +1675,7 @@ Sensors::start() _sensors_task = task_spawn_cmd("sensors_task", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&Sensors::task_main_trampoline, nullptr); |