fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #2571 from PX4/rc_cleanup

Browse Source 
Rc cleanup
This commit is contained in:
Lorenz Meier 2015-07-17 10:05:24 +02:00
commit 0e26c2b37b
3 changed files with 14 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -13,7 +13,7 @@ mavlink stream -d /dev/ttyACM0 -s DISTANCE_SENSOR -r 10
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 100
mavlink stream -d /dev/ttyACM0 -s ACTUATOR_CONTROL_TARGET0 -r 30
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS -r 5
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
mavlink stream -d /dev/ttyACM0 -s POSITION_TARGET_GLOBAL_INT -r 10
mavlink stream -d /dev/ttyACM0 -s LOCAL_POSITION_NED -r 30

6
src/modules/mavlink/mavlink_main.cpp
View File

@ -1597,7 +1597,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("RC_CHANNELS", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
@ -1617,7 +1617,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
configure_stream("DISTANCE_SENSOR", 10.0f);
configure_stream("OPTICAL_FLOW_RAD", 10.0f);
configure_stream("RC_CHANNELS_RAW", 20.0f);
configure_stream("RC_CHANNELS", 20.0f);
configure_stream("VFR_HUD", 10.0f);
configure_stream("SYSTEM_TIME", 1.0f);
configure_stream("TIMESYNC", 10.0f);
@ -1634,7 +1634,7 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("BATTERY_STATUS", 1.0f);
configure_stream("SYSTEM_TIME", 1.0f);
configure_stream("RC_CHANNELS_RAW", 5.0f);
configure_stream("RC_CHANNELS", 5.0f);
break;
default:

21
src/modules/mavlink/mavlink_messages.cpp
View File

@ -1914,33 +1914,32 @@ protected:
};
class MavlinkStreamRCChannelsRaw : public MavlinkStream
class MavlinkStreamRCChannels : public MavlinkStream
{
public:
const char *get_name() const
{
return MavlinkStreamRCChannelsRaw::get_name_static();
return MavlinkStreamRCChannels::get_name_static();
}
static const char *get_name_static()
{
return "RC_CHANNELS_RAW";
return "RC_CHANNELS";
}
uint8_t get_id()
{
return MAVLINK_MSG_ID_RC_CHANNELS_RAW;
return MAVLINK_MSG_ID_RC_CHANNELS;
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamRCChannelsRaw(mavlink);
return new MavlinkStreamRCChannels(mavlink);
}
unsigned get_size()
{
return _rc_sub->is_published() ? ((RC_INPUT_MAX_CHANNELS / 8) * (MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) +
MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
return _rc_sub->is_published() ? (MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
@ -1948,11 +1947,11 @@ private:
uint64_t _rc_time;
/* do not allow top copying this class */
MavlinkStreamRCChannelsRaw(MavlinkStreamRCChannelsRaw &);
MavlinkStreamRCChannelsRaw& operator = (const MavlinkStreamRCChannelsRaw &);
MavlinkStreamRCChannels(MavlinkStreamRCChannels &);
MavlinkStreamRCChannels& operator = (const MavlinkStreamRCChannels &);
protected:
explicit MavlinkStreamRCChannelsRaw(Mavlink *mavlink) : MavlinkStream(mavlink),
explicit MavlinkStreamRCChannels(Mavlink *mavlink) : MavlinkStream(mavlink),
_rc_sub(_mavlink->add_orb_subscription(ORB_ID(input_rc))),
_rc_time(0)
{}
@ -2358,7 +2357,7 @@ const StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamPositionTargetGlobalInt::new_instance, &MavlinkStreamPositionTargetGlobalInt::get_name_static),
new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static),
new StreamListItem(&MavlinkStreamAttitudeTarget::new_instance, &MavlinkStreamAttitudeTarget::get_name_static),
new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
new StreamListItem(&MavlinkStreamRCChannels::new_instance, &MavlinkStreamRCChannels::get_name_static),
new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
new StreamListItem(&MavlinkStreamOpticalFlowRad::new_instance, &MavlinkStreamOpticalFlowRad::get_name_static),
new StreamListItem(&MavlinkStreamActuatorControlTarget<0>::new_instance, &MavlinkStreamActuatorControlTarget<0>::get_name_static),