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Send rc channel ordering and channel attributes from FMU to IO

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This commit is contained in:
Simon Wilks
2013-01-05 22:13:12 +01:00
parent 1b81724ef7
commit 0a89ab7075
5 changed files with 84 additions and 15 deletions
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apps/drivers/px4io/px4io.cpp
+30
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@@ -72,6 +72,7 @@
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/param/param.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
@@ -608,6 +609,35 @@ PX4IO::io_send()
/* set desired PWM output rate */
cmd.servo_rate = _update_rate;
/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
cmd.rc_map[0] = param_find("RC_MAP_ROLL");
cmd.rc_map[1] = param_find("RC_MAP_PITCH");
cmd.rc_map[2] = param_find("RC_MAP_YAW");
cmd.rc_map[3] = param_find("RC_MAP_THROTTLE");
/* set the individual channel properties */
char nbuf[16];
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MIN", i);
cmd.rc_min[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_TRIM", i);
cmd.rc_trim[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MAX", i);
cmd.rc_max[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_REV", i);
cmd.rc_rev[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_DZ", i);
cmd.rc_dz[i] = (uint16_t)param_find(nbuf);
}
ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
if (ret)