controll gains for roll and pitch implemented

diff --git a/mardrone/debian/control b/mardrone/debian/control
index 43096cb..6e0f969 100644 (file)
--- a/mardrone/debian/control
+++ b/mardrone/debian/control
@@ -10,4 +10,56 @@ Package: mardrone
 Architecture: any
 Depends: ${shlibs:Depends}, ${misc:Depends}
 Description: AR-Drone flict controll app
- <insert long description, indented with spaces>
+XB-Maemo-Icon-26:
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diff --git a/mardrone/dronecontrol.cpp b/mardrone/dronecontrol.cpp
index c205edb..cbc4f23 100644 (file)
--- a/mardrone/dronecontrol.cpp
+++ b/mardrone/dronecontrol.cpp
@@ -39,6 +39,7 @@ DroneControl::DroneControl():QObject()
     m_roll=0;
     m_yaw=0;
     m_vv=0;
+    droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
 
 }
 void DroneControl::navDataUpdated()
@@ -221,6 +222,7 @@ float DroneControl::confForwardGain()
 void DroneControl::setConfForwardGain(float val)
 {
     droneSettings->setValue("forwardGain",val);
+    droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
     emit configChanged();
 };
 
@@ -232,6 +234,7 @@ float DroneControl::confBackwardGain()
 void DroneControl::setConfBackwardGain(float val)
 {
     droneSettings->setValue("backwardGain",val);
+    droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
     emit configChanged();
 };
 
@@ -242,6 +245,7 @@ float DroneControl::confLeftGain()
 void DroneControl::setConfLeftGain(float val)
 {
     droneSettings->setValue("leftGain",val);
+    droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
     emit configChanged();
 };
 float DroneControl::confRightGain()
@@ -251,6 +255,7 @@ float DroneControl::confRightGain()
 void DroneControl::setConfRightGain(float val)
 {
     droneSettings->setValue("rightGain",val);
+    droneThread->setDroneGain(confForwardGain(),confBackwardGain(),confLeftGain(),confRightGain());
     emit configChanged();
 };
 
@@ -289,8 +294,8 @@ void DroneThread::setEmergency(bool emg)
 }   ;
 void DroneThread::setDroneControl(float pitch,float roll,float yaw,float vv)
 {
-    m_pitch=pitch/100.0;
-    m_roll=roll/100.0;
+    m_pitch=pitch/200.0*m_fgain;
+    m_roll=roll/200.0*m_rgain;
     m_yaw=yaw/200.0;
     m_vv=vv/200.0;
     qDebug()  << QString("pitch=%1 roll=%2 yaw=%3 vv=%4\r").arg(m_pitch,3,'F',2).arg(m_roll,3,'F',2).arg(m_yaw,3,'F',2).arg(m_vv,3,'F',2);

diff --git a/mardrone/mardrone b/mardrone/mardrone
index db71e7f..8607320 100755 (executable)
Binary files a/mardrone/mardrone and b/mardrone/mardrone differ

diff --git a/mardrone/mardrone.desktop.maemo5 b/mardrone/mardrone.desktop.maemo5
index eaa5301..8d694fe 100644 (file)
--- a/mardrone/mardrone.desktop.maemo5
+++ b/mardrone/mardrone.desktop.maemo5
@@ -5,7 +5,7 @@ Type=Application
 Terminal=false
 Name=Mardrone
 Exec=/opt/usr/bin/mardrone -graphicssystem native
-Icon=ardrone1
+Icon=mardrone
 X-Window-Icon=
 X-HildonDesk-ShowInToolbar=true
 X-Osso-Type=application/x-executable

diff --git a/mardrone_0.0.1_armel.changes b/mardrone_0.0.1_armel.changes
index 9c8ecc0..d24e187 100644 (file)
--- a/mardrone_0.0.1_armel.changes
+++ b/mardrone_0.0.1_armel.changes
@@ -15,6 +15,6 @@ Changes:
  .
    * Initial Release.
 Files: 
- b0206e6ed8d849166f2a4f76b44db354 269 user/hidden optional mardrone_0.0.1.dsc
- bc27f970b6cb9e2dc8043d6518f53e7f 1131126 user/hidden optional mardrone_0.0.1.tar.gz
- 92a66da819c197a0b6f87e8e8985f7e4 100940 user/hidden optional mardrone_0.0.1_armel.deb
+ 1591b907efe219822b1d5394e97f543e 269 user/hidden optional mardrone_0.0.1.dsc
+ 08c0e35f2b10481131ba0f08a8c28115 1373656 user/hidden optional mardrone_0.0.1.tar.gz
+ 898cfeb09dd6c616a146ac6b1869607b 103972 user/hidden optional mardrone_0.0.1_armel.deb

diff --git a/mardrone_0.0.1_armel.deb b/mardrone_0.0.1_armel.deb
index 8756bc5..c14d5a8 100644 (file)
Binary files a/mardrone_0.0.1_armel.deb and b/mardrone_0.0.1_armel.deb differ