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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/px4io/mixer.cpp
+20 -14
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@@ -67,6 +67,12 @@ extern "C" {
*/
#define FMU_INPUT_DROP_LIMIT_US 200000
/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
#define ROLL 0
#define PITCH 1
#define YAW 2
#define THROTTLE 3
/* current servo arm/disarm state */
bool mixer_servos_armed = false;
@@ -112,22 +118,22 @@ mixer_tick(void)
/* when override is on or the fmu is not available, but RC is present */
control_count = system_state.rc_channels;
// Remap the channels based on the radio type.
// FMU: Roll, Pitch, Yaw, Throttle
// Graupner: Throttle, Roll, Pitch, Yaw
sched_lock();
rc_channel_data[0] = system_state.rc_channel_data[1];
rc_channel_data[1] = system_state.rc_channel_data[2];
rc_channel_data[2] = system_state.rc_channel_data[3];
rc_channel_data[3] = system_state.rc_channel_data[0];
// AETR
//rc_channel_data[0] = system_state.rc_channel_data[0];
//rc_channel_data[1] = system_state.rc_channel_data[1];
//rc_channel_data[2] = system_state.rc_channel_data[3];
//rc_channel_data[3] = system_state.rc_channel_data[2];
for (unsigned i = 4; i < system_state.rc_channels; i++) {
/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL]];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH]];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW]];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE]];
/* get the remaining channels, no remapping needed */
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;
control_values = &rc_channel_data[0];
sched_unlock();
} else {