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Code Issues Releases Activity

OP-1058: fix needed for fw_coptercontrol code compilation

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This commit is contained in:
Alessio Morale 2013-08-01 01:18:26 +02:00
parent 9e1acc3165
commit df90a13558
3 changed files with 19 additions and 19 deletions
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28
flight/modules/Attitude/attitude.c
View File

@ -609,17 +609,17 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE; zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE; bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X]; accelbias[0] = attitudeSettings.AccelBias.fields.X;
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y]; accelbias[1] = attitudeSettings.AccelBias.fields.Y;
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z]; accelbias[2] = attitudeSettings.AccelBias.fields.Z;
gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f; gyro_correct_int[0] = attitudeSettings.GyroBias.fields.X / 100.0f;
gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f; gyro_correct_int[1] = attitudeSettings.GyroBias.fields.Y / 100.0f;
gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f; gyro_correct_int[2] = attitudeSettings.GyroBias.fields.Z / 100.0f;
// Indicates not to expend cycles on rotation // Indicates not to expend cycles on rotation
if (attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 && if (attitudeSettings.BoardRotation.fields.Pitch == 0 && attitudeSettings.BoardRotation.fields.Roll == 0 &&
attitudeSettings.BoardRotation[2] == 0) { attitudeSettings.BoardRotation.fields.Yaw == 0) {
rotate = 0; rotate = 0;
// Shouldn't be used but to be safe // Shouldn't be used but to be safe
@ -627,9 +627,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
Quaternion2R(rotationQuat, R); Quaternion2R(rotationQuat, R);
} else { } else {
float rotationQuat[4]; float rotationQuat[4];
const float rpy[3] = { attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL], const float rpy[3] = { attitudeSettings.BoardRotation.fields.Roll,
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH], attitudeSettings.BoardRotation.fields.Pitch,
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW] }; attitudeSettings.BoardRotation.fields.Yaw };
RPY2Quaternion(rpy, rotationQuat); RPY2Quaternion(rpy, rotationQuat);
Quaternion2R(rotationQuat, R); Quaternion2R(rotationQuat, R);
rotate = 1; rotate = 1;
@ -643,10 +643,10 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
trim_requested = true; trim_requested = true;
} else if (attitudeSettings.TrimFlight == ATTITUDESETTINGS_TRIMFLIGHT_LOAD) { } else if (attitudeSettings.TrimFlight == ATTITUDESETTINGS_TRIMFLIGHT_LOAD) {
trim_requested = false; trim_requested = false;
attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X] = trim_accels[0] / trim_samples; attitudeSettings.AccelBias.fields.X = trim_accels[0] / trim_samples;
attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y] = trim_accels[1] / trim_samples; attitudeSettings.AccelBias.fields.Y = trim_accels[1] / trim_samples;
// Z should average -grav // Z should average -grav
attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z] = trim_accels[2] / trim_samples + GRAV / ACCEL_SCALE; attitudeSettings.AccelBias.fields.Z = trim_accels[2] / trim_samples + GRAV / ACCEL_SCALE;
attitudeSettings.TrimFlight = ATTITUDESETTINGS_TRIMFLIGHT_NORMAL; attitudeSettings.TrimFlight = ATTITUDESETTINGS_TRIMFLIGHT_NORMAL;
AttitudeSettingsSet(&attitudeSettings); AttitudeSettingsSet(&attitudeSettings);
} else { } else {

4
flight/modules/ManualControl/manualcontrol.c
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@ -453,8 +453,8 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
if (pios_usb_rctx_id) { if (pios_usb_rctx_id) {
PIOS_USB_RCTX_Update(pios_usb_rctx_id, PIOS_USB_RCTX_Update(pios_usb_rctx_id,
cmd.Channel, cmd.Channel,
settings.ChannelMin, settings.ChannelMin.data,
settings.ChannelMax, settings.ChannelMax.data,
NELEMENTS(cmd.Channel)); NELEMENTS(cmd.Channel));
} }
#endif /* PIOS_INCLUDE_USB_RCTX */ #endif /* PIOS_INCLUDE_USB_RCTX */

6
flight/modules/Stabilization/stabilization.c
View File

@ -192,19 +192,19 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
float local_error[3]; float local_error[3];
// Essentially zero errors for anything in rate or none // Essentially zero errors for anything in rate or none
if (stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) { if (stabDesired.StabilizationMode.fields.Roll == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) {
rpy_desired[0] = stabDesired.Roll; rpy_desired[0] = stabDesired.Roll;
} else { } else {
rpy_desired[0] = attitudeState.Roll; rpy_desired[0] = attitudeState.Roll;
} }
if (stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) { if (stabDesired.StabilizationMode.fields.Pitch == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) {
rpy_desired[1] = stabDesired.Pitch; rpy_desired[1] = stabDesired.Pitch;
} else { } else {
rpy_desired[1] = attitudeState.Pitch; rpy_desired[1] = attitudeState.Pitch;
} }
if (stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) { if (stabDesired.StabilizationMode.fields.Yaw == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) {
rpy_desired[2] = stabDesired.Yaw; rpy_desired[2] = stabDesired.Yaw;
} else { } else {
rpy_desired[2] = attitudeState.Yaw; rpy_desired[2] = attitudeState.Yaw;