fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 19:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Lorenz Meier
2013-01-06 14:43:37 +01:00
parent ef2efabbd4
commit 0945a2cc2f
4 changed files with 46 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/px4io/mixer.cpp
+23 -8
View File
@@ -80,7 +80,7 @@ bool mixer_servos_armed = false;
static uint16_t *control_values;
static int control_count;
static uint16_t rc_channel_data[PX4IO_CONTROL_CHANNELS];
static uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
static int mixer_callback(uintptr_t handle,
uint8_t control_group,
@@ -127,14 +127,25 @@ mixer_tick(void)
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
/* get the remaining channels, no remapping needed */
for (unsigned i = 4; i < system_state.rc_channels; i++)
for (unsigned i = 4; i < system_state.rc_channels; i++) {
rc_channel_data[i] = system_state.rc_channel_data[i];
}
/* scale the control inputs */
rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000;
//lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
// system_state.rc_min[THROTTLE], system_state.rc_trim[THROTTLE], system_state.rc_max[THROTTLE], rc_channel_data[THROTTLE]);
/* scale the control inputs */
rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
(float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000;
if (rc_channel_data[THROTTLE] > 2000) {
rc_channel_data[THROTTLE] = 2000;
}
if (rc_channel_data[THROTTLE] < 1000) {
rc_channel_data[THROTTLE] = 1000;
}
// lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
// (int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
// (int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
control_values = &rc_channel_data[0];
sched_unlock();
@@ -218,7 +229,11 @@ mixer_callback(uintptr_t handle,
return -1;
/* scale from current PWM units (1000-2000) to mixer input values */
control = ((float)control_values[control_index] - 1500.0f) / 500.0f;
if (system_state.manual_override_ok && system_state.mixer_manual_override && control_index == 3) {
control = ((float)control_values[control_index] - 1000.0f) / 1000.0f;
} else {
control = ((float)control_values[control_index] - 1500.0f) / 500.0f;
}
return 0;
}