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[ardrone] Fixed Baro

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This commit is contained in:
Christophe De Wagter
2013-08-21 14:38:34 +02:00
committed by Felix Ruess
parent 8e84c8ecbd
commit 9a864d8927
8 changed files with 52 additions and 53 deletions
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sw/airborne/boards/ardrone/navdata.c
+15 -3
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@@ -170,7 +170,6 @@ void navdata_read()
port->bytesRead += newbytes;
port->totalBytesRead += newbytes;
}
}
void navdata_update()
@@ -187,11 +186,24 @@ void navdata_update()
// if ( navdata_checksum() == 0 )
{
memcpy(navdata, port->buffer, NAVDATA_PACKET_SIZE);
// Invert byte order so that TELEMETRY works better
uint8_t tmp;
uint8_t* p = (uint8_t*) &(navdata->pressure);
tmp = p[0];
p[0] = p[1];
p[1] = tmp;
p = (uint8_t*) &(navdata->temperature_pressure);
tmp = p[0];
p[0] = p[1];
p[1] = tmp;
navdata_imu_available = 1;
navdata_baro_available = 1;
port->packetsRead++;
// printf("CCRC=%d, GCRC=%d, error=%d\n", crc, navdata->chksum, abs(crc-navdata->chksum));
navdata_getHeight();
//navdata_getHeight();
}
navdata_CropBuffer(60);
}
@@ -215,7 +227,7 @@ void navdata_CropBuffer(int cropsize)
{
if (port->bytesRead - cropsize < 0) {
// TODO think about why the amount of bytes read minus the cropsize gets below zero
printf("BytesRead(=%d) - Cropsize(=%d) may not be below zero. port->buffer=%d\n", port->bytesRead, cropsize, port->buffer);
printf("BytesRead(=%d) - Cropsize(=%d) may not be below zero. port->buffer=%p\n", port->bytesRead, cropsize, port->buffer);
return;
}