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Enable flaps in manual override

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This commit is contained in:
Lorenz Meier
2014-10-15 22:19:06 +02:00
parent 3eb68bc660
commit 0d917576d4
2 changed files with 19 additions and 4 deletions
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src/drivers/px4io/px4io.cpp
+8 -1
View File
@@ -1265,11 +1265,18 @@ PX4IO::io_set_rc_config()
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 3; input_map[ichan - 1] = 3;
param_get(param_find("RC_MAP_MODE_SW"), &ichan); param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 4; input_map[ichan - 1] = 4;
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan - 1] = 8;
}
/* /*
* Iterate all possible RC inputs. * Iterate all possible RC inputs.
*/ */
src/modules/px4iofirmware/controls.c
+11 -3
View File
@@ -60,6 +60,8 @@ static perf_counter_t c_gather_ppm;
static int _dsm_fd; static int _dsm_fd;
static uint16_t rc_value_override = 0;
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
{ {
perf_begin(c_gather_dsm); perf_begin(c_gather_dsm);
@@ -313,8 +315,14 @@ controls_tick() {
} }
} }
r_rc_values[mapped] = SIGNED_TO_REG(scaled); /* pick out override channel, indicated by mapping 8 (9 th channel, virtual) */
assigned_channels |= (1 << mapped); if (mapped == 8) {
rc_value_override = SIGNED_TO_REG(scaled);
} else {
/* normal channel */
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
} }
} }
@@ -409,7 +417,7 @@ controls_tick() {
* requested override. * requested override.
* *
*/ */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) < RC_CHANNEL_LOW_THRESH)) if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH))
override = true; override = true;
if (override) { if (override) {