fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 22:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4io: moving mixing to FMU side

Browse Source 
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Daniel Agar
2021-09-25 19:15:05 -04:00
co-authored by Beat Küng
parent f772b0f45d
commit 089c962d92
59 changed files with 1150 additions and 4170 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rc_update/params.c
+1 -243
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -1329,39 +1329,6 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_FLTMODE, 0);
/**
* Mode switch channel mapping.
*
* This is the main flight mode selector.
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for deciding about the main mode.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
/**
* Return switch channel
*
@@ -1390,34 +1357,6 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
/**
* Position Control switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
/**
* Loiter switch channel
*
@@ -1446,34 +1385,6 @@ PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
/**
* Acro switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
/**
* Offboard switch channel
*
@@ -1645,62 +1556,6 @@ PARAM_DEFINE_INT32(RC_MAP_TRANS_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_GEAR_SW, 0);
/**
* Stabilize switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_STAB_SW, 0);
/**
* Manual switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
/**
* Button flight mode selection
*
@@ -1732,7 +1587,6 @@ PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
* @bit 16 Mask Channel 17 as a mode button
* @bit 17 Mask Channel 18 as a mode button
*/
PARAM_DEFINE_INT32(RC_MAP_FLTM_BTN, 0);
/**
@@ -2019,54 +1873,6 @@ PARAM_DEFINE_INT32(RC_MAP_PARAM3, 0);
*/
PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
/**
* Threshold for selecting assist mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
/**
* Threshold for selecting auto mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/**
* Threshold for selecting posctl mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.75f);
/**
* Threshold for selecting return to launch mode
*
@@ -2099,22 +1905,6 @@ PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.75f);
*/
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.75f);
/**
* Threshold for selecting acro mode
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.75f);
/**
* Threshold for selecting offboard mode
*
@@ -2195,38 +1985,6 @@ PARAM_DEFINE_FLOAT(RC_TRANS_TH, 0.75f);
*/
PARAM_DEFINE_FLOAT(RC_GEAR_TH, 0.75f);
/**
* Threshold for the stabilize switch.
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_STAB_TH, 0.5f);
/**
* Threshold for the manual switch.
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
* @min -1
* @max 1
* @group Radio Switches
*/
PARAM_DEFINE_FLOAT(RC_MAN_TH, 0.75f);
/**
* PWM input channel that provides RSSI.
*
src/modules/rc_update/params_deprecated.c
+146
View File
@@ -31,6 +31,39 @@
*
****************************************************************************/
/**
* Mode switch channel mapping (deprecated)
*
* This is the main flight mode selector.
* The channel index (starting from 1 for channel 1) indicates
* which channel should be used for deciding about the main mode.
* A value of zero indicates the switch is not assigned.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
/**
* Rattitude switch channel (deprecated)
*
@@ -58,3 +91,116 @@
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_RATT_SW, 0);
/**
* Position Control switch channel (deprecated)
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
/**
* Acro switch channel (deprecated)
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
/**
* Stabilize switch channel mapping (deprecated)
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_STAB_SW, 0);
/**
* Manual switch channel mapping (deprecated)
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
src/modules/rc_update/rc_update.cpp
+47 -54
View File
@@ -48,18 +48,13 @@ namespace RCUpdate
static bool operator ==(const manual_control_switches_s &a, const manual_control_switches_s &b)
{
return (a.mode_slot == b.mode_slot &&
a.mode_switch == b.mode_switch &&
a.return_switch == b.return_switch &&
a.posctl_switch == b.posctl_switch &&
a.loiter_switch == b.loiter_switch &&
a.acro_switch == b.acro_switch &&
a.offboard_switch == b.offboard_switch &&
a.kill_switch == b.kill_switch &&
a.arm_switch == b.arm_switch &&
a.transition_switch == b.transition_switch &&
a.gear_switch == b.gear_switch &&
a.stab_switch == b.stab_switch &&
a.man_switch == b.man_switch);
a.gear_switch == b.gear_switch);
}
static bool operator !=(const manual_control_switches_s &a, const manual_control_switches_s &b) { return !(a == b); }
@@ -161,12 +156,47 @@ void RCUpdate::parameters_updated()
{
int32_t rc_map_value = 0;
if (param_get(param_find("RC_MAP_MODE_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_MODE_SW deprecated");
param_reset(param_find("RC_MAP_MODE_SW"));
}
}
if (param_get(param_find("RC_MAP_RATT_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_RATT_SW deprecated");
param_reset(param_find("RC_MAP_RATT_SW"));
}
}
if (param_get(param_find("RC_MAP_POSCTL_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_POSCTL_SW deprecated");
param_reset(param_find("RC_MAP_POSCTL_SW"));
}
}
if (param_get(param_find("RC_MAP_ACRO_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_ACRO_SW deprecated");
param_reset(param_find("RC_MAP_ACRO_SW"));
}
}
if (param_get(param_find("RC_MAP_STAB_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_STAB_SW deprecated");
param_reset(param_find("RC_MAP_STAB_SW"));
}
}
if (param_get(param_find("RC_MAP_MAN_SW"), &rc_map_value) == PX4_OK) {
if (rc_map_value != 0) {
PX4_WARN("RC_MAP_MAN_SW deprecated");
param_reset(param_find("RC_MAP_MAN_SW"));
}
}
}
}
@@ -178,18 +208,13 @@ void RCUpdate::update_rc_functions()
_rc.function[rc_channels_s::FUNCTION_PITCH] = _param_rc_map_pitch.get() - 1;
_rc.function[rc_channels_s::FUNCTION_YAW] = _param_rc_map_yaw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_MODE] = _param_rc_map_mode_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_POSCTL] = _param_rc_map_posctl_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_ACRO] = _param_rc_map_acro_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_GEAR] = _param_rc_map_gear_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_STAB] = _param_rc_map_stab_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_MAN] = _param_rc_map_man_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_FLAPS] = _param_rc_map_flaps.get() - 1;
@@ -524,28 +549,6 @@ void RCUpdate::Run()
perf_end(_loop_perf);
}
switch_pos_t RCUpdate::get_rc_sw3pos_position(uint8_t func, float on_th, float mid_th) const
{
if (_rc.function[func] >= 0) {
const bool on_inv = (on_th < 0.f);
const bool mid_inv = (mid_th < 0.f);
const float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return manual_control_switches_s::SWITCH_POS_ON;
} else if (mid_inv ? value < mid_th : value > mid_th) {
return manual_control_switches_s::SWITCH_POS_MIDDLE;
} else {
return manual_control_switches_s::SWITCH_POS_OFF;
}
}
return manual_control_switches_s::SWITCH_POS_NONE;
}
switch_pos_t RCUpdate::get_rc_sw2pos_position(uint8_t func, float on_th) const
{
if (_rc.function[func] >= 0) {
@@ -569,7 +572,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
manual_control_switches_s switches{};
switches.timestamp_sample = timestamp_sample;
// check mode slot (RC_MAP_FLTMODE) or legacy mode switch (RC_MAP_MODE_SW), but not both
// check mode slot (RC_MAP_FLTMODE)
if (_param_rc_map_fltmode.get() > 0) {
// number of valid slots
static constexpr int num_slots = manual_control_switches_s::MODE_SLOT_NUM;
@@ -594,16 +597,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.mode_slot = num_slots;
}
} else if (_param_rc_map_mode_sw.get() > 0) {
switches.mode_switch = get_rc_sw3pos_position(rc_channels_s::FUNCTION_MODE,
_param_rc_auto_th.get(), _param_rc_assist_th.get());
// only used with legacy mode switch
switches.man_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_MAN, _param_rc_man_th.get());
switches.acro_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ACRO, _param_rc_acro_th.get());
switches.stab_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_STAB, _param_rc_stab_th.get());
switches.posctl_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_POSCTL, _param_rc_posctl_th.get());
} else if (_param_rc_map_flightmode_buttons.get() > 0) {
switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE;
bool is_consistent_button_press = false;
@@ -673,17 +666,17 @@ void RCUpdate::UpdateManualSetpoint(const hrt_abstime &timestamp_sample)
manual_control_setpoint.data_source = manual_control_setpoint_s::SOURCE_RC;
// limit controls
manual_control_setpoint.y = get_rc_value(rc_channels_s::FUNCTION_ROLL, -1.f, 1.f);
manual_control_setpoint.x = get_rc_value(rc_channels_s::FUNCTION_PITCH, -1.f, 1.f);
manual_control_setpoint.r = get_rc_value(rc_channels_s::FUNCTION_YAW, -1.f, 1.f);
manual_control_setpoint.y = get_rc_value(rc_channels_s::FUNCTION_ROLL, -1.f, 1.f);
manual_control_setpoint.x = get_rc_value(rc_channels_s::FUNCTION_PITCH, -1.f, 1.f);
manual_control_setpoint.r = get_rc_value(rc_channels_s::FUNCTION_YAW, -1.f, 1.f);
manual_control_setpoint.z = get_rc_value(rc_channels_s::FUNCTION_THROTTLE, -1.f, 1.f);
manual_control_setpoint.flaps = get_rc_value(rc_channels_s::FUNCTION_FLAPS, -1.f, 1.f);
manual_control_setpoint.aux1 = get_rc_value(rc_channels_s::FUNCTION_AUX_1, -1.f, 1.f);
manual_control_setpoint.aux2 = get_rc_value(rc_channels_s::FUNCTION_AUX_2, -1.f, 1.f);
manual_control_setpoint.aux3 = get_rc_value(rc_channels_s::FUNCTION_AUX_3, -1.f, 1.f);
manual_control_setpoint.aux4 = get_rc_value(rc_channels_s::FUNCTION_AUX_4, -1.f, 1.f);
manual_control_setpoint.aux5 = get_rc_value(rc_channels_s::FUNCTION_AUX_5, -1.f, 1.f);
manual_control_setpoint.aux6 = get_rc_value(rc_channels_s::FUNCTION_AUX_6, -1.f, 1.f);
manual_control_setpoint.flaps = get_rc_value(rc_channels_s::FUNCTION_FLAPS, -1.f, 1.f);
manual_control_setpoint.aux1 = get_rc_value(rc_channels_s::FUNCTION_AUX_1, -1.f, 1.f);
manual_control_setpoint.aux2 = get_rc_value(rc_channels_s::FUNCTION_AUX_2, -1.f, 1.f);
manual_control_setpoint.aux3 = get_rc_value(rc_channels_s::FUNCTION_AUX_3, -1.f, 1.f);
manual_control_setpoint.aux4 = get_rc_value(rc_channels_s::FUNCTION_AUX_4, -1.f, 1.f);
manual_control_setpoint.aux5 = get_rc_value(rc_channels_s::FUNCTION_AUX_5, -1.f, 1.f);
manual_control_setpoint.aux6 = get_rc_value(rc_channels_s::FUNCTION_AUX_6, -1.f, 1.f);
// publish manual_control_setpoint topic
manual_control_setpoint.timestamp = hrt_absolute_time();
src/modules/rc_update/rc_update.h
+1 -13
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -120,7 +120,6 @@ private:
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, float mid_th) const;
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th) const;
/**
@@ -208,21 +207,16 @@ private:
(ParamInt<px4::params::RC_MAP_FAILSAFE>) _param_rc_map_failsafe,
(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
(ParamInt<px4::params::RC_MAP_MODE_SW>) _param_rc_map_mode_sw,
(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
(ParamInt<px4::params::RC_MAP_POSCTL_SW>) _param_rc_map_posctl_sw,
(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
(ParamInt<px4::params::RC_MAP_ACRO_SW>) _param_rc_map_acro_sw,
(ParamInt<px4::params::RC_MAP_OFFB_SW>) _param_rc_map_offb_sw,
(ParamInt<px4::params::RC_MAP_KILL_SW>) _param_rc_map_kill_sw,
(ParamInt<px4::params::RC_MAP_ARM_SW>) _param_rc_map_arm_sw,
(ParamInt<px4::params::RC_MAP_TRANS_SW>) _param_rc_map_trans_sw,
(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
(ParamInt<px4::params::RC_MAP_STAB_SW>) _param_rc_map_stab_sw,
(ParamInt<px4::params::RC_MAP_MAN_SW>) _param_rc_map_man_sw,
(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_flightmode_buttons,
(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
@@ -234,18 +228,12 @@ private:
(ParamInt<px4::params::RC_FAILS_THR>) _param_rc_fails_thr,
(ParamFloat<px4::params::RC_ASSIST_TH>) _param_rc_assist_th,
(ParamFloat<px4::params::RC_AUTO_TH>) _param_rc_auto_th,
(ParamFloat<px4::params::RC_POSCTL_TH>) _param_rc_posctl_th,
(ParamFloat<px4::params::RC_LOITER_TH>) _param_rc_loiter_th,
(ParamFloat<px4::params::RC_ACRO_TH>) _param_rc_acro_th,
(ParamFloat<px4::params::RC_OFFB_TH>) _param_rc_offb_th,
(ParamFloat<px4::params::RC_KILLSWITCH_TH>) _param_rc_killswitch_th,
(ParamFloat<px4::params::RC_ARMSWITCH_TH>) _param_rc_armswitch_th,
(ParamFloat<px4::params::RC_TRANS_TH>) _param_rc_trans_th,
(ParamFloat<px4::params::RC_GEAR_TH>) _param_rc_gear_th,
(ParamFloat<px4::params::RC_STAB_TH>) _param_rc_stab_th,
(ParamFloat<px4::params::RC_MAN_TH>) _param_rc_man_th,
(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt