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TickTock-
2014-04-27 12:43:13 -07:00
parent b4d30e53c5 ad77ba2642
commit 07c35010aa
50 changed files with 815 additions and 514 deletions
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src/modules/sensors/sensor_params.c
+1 -1
View File
@@ -608,7 +608,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_EASY_SW, 0);
/**
* Mission switch channel mapping.
* Loiter switch channel mapping.
*
* @min 0
* @max 18
src/modules/sensors/sensors.cpp
+46 -16
View File
@@ -255,7 +255,11 @@ private:
int rc_map_mode_sw;
int rc_map_return_sw;
<<<<<<< HEAD
int rc_map_easy_sw;
=======
int rc_map_assisted_sw;
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
int rc_map_loiter_sw;
// int rc_map_offboard_ctrl_mode_sw;
@@ -309,7 +313,11 @@ private:
param_t rc_map_mode_sw;
param_t rc_map_return_sw;
<<<<<<< HEAD
param_t rc_map_easy_sw;
=======
param_t rc_map_assisted_sw;
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
param_t rc_map_loiter_sw;
// param_t rc_map_offboard_ctrl_mode_sw;
@@ -526,7 +534,11 @@ Sensors::Sensors() :
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
<<<<<<< HEAD
_parameter_handles.rc_map_easy_sw = param_find("RC_MAP_EASY_SW");
=======
_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -651,19 +663,19 @@ Sensors::parameters_update()
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
@@ -671,23 +683,32 @@ Sensors::parameters_update()
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
<<<<<<< HEAD
if (param_get(_parameter_handles.rc_map_easy_sw, &(_parameters.rc_map_easy_sw)) != OK) {
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
warnx(paramerr);
=======
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
warnx("%s", paramerr);
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
@@ -724,7 +745,11 @@ Sensors::parameters_update()
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
<<<<<<< HEAD
_rc.function[EASY] = _parameters.rc_map_easy_sw - 1;
=======
_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -768,12 +793,12 @@ Sensors::parameters_update()
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
/* scaling of ADC ticks to battery current */
if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
@@ -1285,7 +1310,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
_last_adc = t;
if (_battery_status.voltage_v > 0.0f) {
if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
/* announce the battery status if needed, just publish else */
if (_battery_pub > 0) {
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
@@ -1477,10 +1502,17 @@ Sensors::rc_poll()
manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
/* mode switches */
<<<<<<< HEAD
manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assisted_th, _parameters.rc_assisted_inv);
manual.easy_switch = get_rc_sw2pos_position(EASY, _parameters.rc_easy_th, _parameters.rc_easy_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
=======
manual.mode_switch = get_rc_switch_position(MODE);
manual.assisted_switch = get_rc_switch_position(ASSISTED);
manual.loiter_switch = get_rc_switch_position(LOITER);
manual.return_switch = get_rc_switch_position(RETURN);
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {
@@ -1590,12 +1622,10 @@ Sensors::task_main()
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* wait for up to 50ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
@@ -1634,7 +1664,7 @@ Sensors::task_main()
perf_end(_loop_perf);
}
printf("[sensors] exiting.\n");
warnx("[sensors] exiting.");
_sensors_task = -1;
_exit(0);