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Fixed RC mapping transmission, tested. Fixed RC scaling in manual mode

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Lorenz Meier
2013-01-06 14:43:37 +01:00
parent ef2efabbd4
commit 0945a2cc2f
4 changed files with 46 additions and 30 deletions
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apps/drivers/px4io/px4io.cpp
+20 -19
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@@ -652,40 +652,41 @@ PX4IO::config_send()
/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
param_get(param_find("RC_MAP_ROLL"), &val);
cfg.rc_map[0] = (uint8_t)val;
cfg.rc_map[0] = val;
param_get(param_find("RC_MAP_PITCH"), &val);
cfg.rc_map[1] = (uint8_t)val;
cfg.rc_map[1] = val;
param_get(param_find("RC_MAP_YAW"), &val);
cfg.rc_map[2] = (uint8_t)val;
cfg.rc_map[2] = val;
param_get(param_find("RC_MAP_THROTTLE"), &val);
cfg.rc_map[3] = (uint8_t)val;
cfg.rc_map[3] = val;
/* set the individual channel properties */
char nbuf[16];
float float_val;
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MIN", i);
param_get(param_find(nbuf), &val);
cfg.rc_min[i] = (uint16_t)val;
sprintf(nbuf, "RC%d_MIN", i + 1);
param_get(param_find(nbuf), &float_val);
cfg.rc_min[i] = float_val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_TRIM", i);
param_get(param_find(nbuf), &val);
cfg.rc_trim[i] = (uint16_t)val;
sprintf(nbuf, "RC%d_TRIM", i + 1);
param_get(param_find(nbuf), &float_val);
cfg.rc_trim[i] = float_val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MAX", i);
param_get(param_find(nbuf), &val);
cfg.rc_max[i] = (uint16_t)val;
sprintf(nbuf, "RC%d_MAX", i + 1);
param_get(param_find(nbuf), &float_val);
cfg.rc_max[i] = float_val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_REV", i);
param_get(param_find(nbuf), &val);
cfg.rc_rev[i] = (uint16_t)val;
sprintf(nbuf, "RC%d_REV", i + 1);
param_get(param_find(nbuf), &float_val);
cfg.rc_rev[i] = float_val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_DZ", i);
param_get(param_find(nbuf), &val);
cfg.rc_dz[i] = (uint16_t)val;
sprintf(nbuf, "RC%d_DZ", i + 1);
param_get(param_find(nbuf), &float_val);
cfg.rc_dz[i] = float_val;
}
ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));