ardrone flying now (still workaround of disabled rates controller)

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -127,8 +127,8 @@ static void *rate_control_thread_main(void *arg)
 				gyro_lp[1] = gyro_report.y;
 				gyro_lp[2] = gyro_report.z;
 
-//				multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
+				multirotor_control_rates(&rates_sp, gyro_lp, &actuators);
-//				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
+				orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 			// }
 		}
 	}
@@ -192,10 +192,10 @@ mc_thread_main(int argc, char *argv[])
 
 	/* ready, spawn pthread */
 	pthread_attr_t rate_control_attr;
-	pthread_attr_init(&rate_control_attr);
+//	pthread_attr_init(&rate_control_attr);
-	pthread_attr_setstacksize(&rate_control_attr, 2048);
+//	pthread_attr_setstacksize(&rate_control_attr, 2048);
-	pthread_t rate_control_thread;
+//	pthread_t rate_control_thread;
-	pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
+//	pthread_create(&rate_control_thread, &rate_control_attr, rate_control_thread_main, NULL);
 
 	while (!thread_should_exit) {
 
@@ -306,7 +306,7 @@ mc_thread_main(int argc, char *argv[])
 	perf_print_counter(mc_loop_perf);
 	perf_free(mc_loop_perf);
 
-	pthread_join(rate_control_thread, NULL);
+	//pthread_join(rate_control_thread, NULL);
 
 	fflush(stdout);
 	exit(0);
@@ -340,6 +340,7 @@ int multirotor_att_control_main(int argc, char *argv[])
 		default:
 			fprintf(stderr, "option: -%c\n", ch);
 			usage("unrecognized option");
+			break;
 		}
 	}
 	argc -= optioncount;

apps/sensors/sensors.cpp

@@ -968,7 +968,7 @@ Sensors::ppm_poll()
 			_rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
 		} else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) {
 			/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
-			_rc.chan[i].scaled = -1.0f + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
+			_rc.chan[i].scaled = -((_parameters.trim[i] - ppm_buffer[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
 			
 		} else {
 			/* in the configured dead zone, output zero */
@@ -1029,6 +1029,8 @@ Sensors::ppm_poll()
 
 	orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
 	orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
+
+//	printf("SENSORS: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",manual_control.roll, manual_control.pitch, manual_control.yaw, manual_control.throttle);
 }
 #endif