From 1b754cd3a16d83e7471dc86bb7383d0d30afd630 Mon Sep 17 00:00:00 2001 From: kirkscheper Date: Thu, 19 Oct 2017 15:47:14 +0200 Subject: [PATCH] uncorrelated small fixes --- sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c | 4 ++-- sw/airborne/modules/stereocam/stereocam.h | 2 +- sw/airborne/subsystems/imu/imu_ardrone2.h | 2 +- sw/tools/parrot/parrot_utils.py | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c index 2af39884fd..c6bcd34aaa 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c @@ -528,7 +528,7 @@ void guidance_v_guided_run(bool in_flight) case GUIDANCE_V_GUIDED_MODE_THROTTLE: // Throttle guidance_v_z_sp = stateGetPositionNed_i()->z; // for display only - stabilization_cmd[COMMAND_THRUST] = guidance_v_th_sp; + guidance_v_delta_t = guidance_v_th_sp; break; default: break; @@ -586,7 +586,7 @@ bool guidance_v_set_guided_th(float th) /* reset guidance reference */ GuidanceVSetRef(stateGetPositionNed_i()->z, stateGetSpeedNed_i()->z, 0); - guidance_v_th_sp = ((float)MAX_PPRZ) * th; + guidance_v_th_sp = (int32_t)(MAX_PPRZ * th); Bound(guidance_v_th_sp, 0, MAX_PPRZ); return true; } diff --git a/sw/airborne/modules/stereocam/stereocam.h b/sw/airborne/modules/stereocam/stereocam.h index 0be9313420..0180f56592 100644 --- a/sw/airborne/modules/stereocam/stereocam.h +++ b/sw/airborne/modules/stereocam/stereocam.h @@ -34,7 +34,7 @@ struct stereocam_t { struct link_device *device; ///< The device which is uses for communication struct pprz_transport transport; ///< The transport layer (PPRZ) - struct FloatRMat body_to_cam; ///< IMU to magneto translation + struct FloatRMat body_to_cam; ///< IMU to stereocam rotation bool msg_available; ///< If we received a message }; diff --git a/sw/airborne/subsystems/imu/imu_ardrone2.h b/sw/airborne/subsystems/imu/imu_ardrone2.h index 2367213461..10f87697af 100644 --- a/sw/airborne/subsystems/imu/imu_ardrone2.h +++ b/sw/airborne/subsystems/imu/imu_ardrone2.h @@ -28,7 +28,7 @@ #define IMU_ARDRONE2_H_ #include "generated/airframe.h" -#include "navdata.h" +#include "boards/ardrone/navdata.h" /** default gyro sensitivy and neutral from the datasheet diff --git a/sw/tools/parrot/parrot_utils.py b/sw/tools/parrot/parrot_utils.py index f17df081a0..4683844813 100644 --- a/sw/tools/parrot/parrot_utils.py +++ b/sw/tools/parrot/parrot_utils.py @@ -249,7 +249,7 @@ class ParrotUtils: # Remove a directory def remove_directory(self, name): - self.sexecute_command('rm -r ' + name) + self.execute_command('rm -r ' + name) print('Removed directory "' + name + '"') # Upload a new file