From 23a62342359ba99eb1c6bb1832ba266b442a7e3e Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 1 Jun 2013 23:31:53 +0200 Subject: Rename our 'task_spawn' to 'task_spawn_cmd' since NuttX now has its own version of task_spawn that's different. --- src/modules/sensors/sensors.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/sensors/sensors.cpp') diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 6b6aeedee..8bf5fdbd0 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1445,7 +1445,7 @@ Sensors::start() ASSERT(_sensors_task == -1); /* start the task */ - _sensors_task = task_spawn("sensors_task", + _sensors_task = task_spawn_cmd("sensors_task", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, -- cgit v1.2.3 From 05d68154014910a428f1f77eae98a393d14b7f37 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 4 Jul 2013 15:49:13 +0200 Subject: Improved return statement of sensors app --- src/modules/sensors/sensors.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'src/modules/sensors/sensors.cpp') diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 8bf5fdbd0..94998f5c3 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1502,6 +1502,7 @@ int sensors_main(int argc, char *argv[]) } } - errx(1, "unrecognized command"); + warnx("unrecognized command"); + return 1; } -- cgit v1.2.3 From 5f2d35d7150d9ae5d72eba008f785aee65a513c4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 5 Jul 2013 11:44:10 +0200 Subject: Added gyro scaling as parameter --- src/modules/sensors/sensor_params.c | 4 ++++ src/modules/sensors/sensors.cpp | 14 +++++++++++--- 2 files changed, 15 insertions(+), 3 deletions(-) (limited to 'src/modules/sensors/sensors.cpp') diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 230060148..f6f4d60c7 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -48,6 +48,10 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); +PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); + PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 94998f5c3..1ded14a91 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -194,6 +194,7 @@ private: float scaling_factor[_rc_max_chan_count]; float gyro_offset[3]; + float gyro_scale[3]; float mag_offset[3]; float mag_scale[3]; float accel_offset[3]; @@ -243,6 +244,7 @@ private: param_t rc_demix; param_t gyro_offset[3]; + param_t gyro_scale[3]; param_t accel_offset[3]; param_t accel_scale[3]; param_t mag_offset[3]; @@ -486,6 +488,9 @@ Sensors::Sensors() : _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); _parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF"); _parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF"); + _parameter_handles.gyro_scale[0] = param_find("SENS_GYRO_XSCALE"); + _parameter_handles.gyro_scale[1] = param_find("SENS_GYRO_YSCALE"); + _parameter_handles.gyro_scale[2] = param_find("SENS_GYRO_ZSCALE"); /* accel offsets */ _parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF"); @@ -696,6 +701,9 @@ Sensors::parameters_update() param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0])); param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1])); param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2])); + param_get(_parameter_handles.gyro_scale[0], &(_parameters.gyro_scale[0])); + param_get(_parameter_handles.gyro_scale[1], &(_parameters.gyro_scale[1])); + param_get(_parameter_handles.gyro_scale[2], &(_parameters.gyro_scale[2])); /* accel offsets */ param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0])); @@ -983,11 +991,11 @@ Sensors::parameter_update_poll(bool forced) int fd = open(GYRO_DEVICE_PATH, 0); struct gyro_scale gscale = { _parameters.gyro_offset[0], - 1.0f, + _parameters.gyro_scale[0], _parameters.gyro_offset[1], - 1.0f, + _parameters.gyro_scale[1], _parameters.gyro_offset[2], - 1.0f, + _parameters.gyro_scale[2], }; if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) -- cgit v1.2.3