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Improve config and mapping

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This commit is contained in:
Lorenz Meier
2015-05-24 20:11:51 +02:00
parent 2bb655c46c
commit 009815deb0
4 changed files with 27 additions and 17 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+18 -10
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@@ -904,6 +904,14 @@ static switch_pos_t decode_switch_pos(uint16_t buttons, int sw) {
return (buttons >> (sw * 2)) & 3;
}
static int decode_switch_pos_n(uint16_t buttons, int sw) {
if (buttons & (1 << sw)) {
return 1;
} else {
return 0;
}
}
void
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
{
@@ -929,17 +937,17 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
rc.rc_ppm_frame_length = 0;
rc.input_source = RC_INPUT_SOURCE_MAVLINK;
rc.rssi = RC_INPUT_RSSI_MAX;
rc.values[0] = man.x * 500 + 1500;
rc.values[1] = man.y * 500 + 1500;
rc.values[2] = man.r / 2.0f + 1500;
rc.values[3] = man.z / 2.0f + 1500;
rc.values[0] = man.x / 2 + 1500;
rc.values[1] = man.y / 2 + 1500;
rc.values[2] = man.r / 2 + 1500;
rc.values[3] = man.z + 1000;
rc.values[4] = decode_switch_pos(man.buttons, 0) * 1000 + 1000;
rc.values[5] = decode_switch_pos(man.buttons, 1) * 1000 + 1000;
rc.values[6] = decode_switch_pos(man.buttons, 2) * 1000 + 1000;
rc.values[7] = decode_switch_pos(man.buttons, 3) * 1000 + 1000;
rc.values[8] = decode_switch_pos(man.buttons, 4) * 1000 + 1000;
rc.values[9] = decode_switch_pos(man.buttons, 5) * 1000 + 1000;
rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;
rc.values[6] = decode_switch_pos_n(man.buttons, 2) * 1000 + 1000;
rc.values[7] = decode_switch_pos_n(man.buttons, 3) * 1000 + 1000;
rc.values[8] = decode_switch_pos_n(man.buttons, 4) * 1000 + 1000;
rc.values[9] = decode_switch_pos_n(man.buttons, 5) * 1000 + 1000;
if (_rc_pub <= 0) {
_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);