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Sensors: Support single channel flight mode selection

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This commit is contained in:
Lorenz Meier
2016-03-05 20:41:02 +01:00
parent 4e36973cee
commit 1c21a63101
2 changed files with 68 additions and 20 deletions
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src/modules/sensors/sensor_params.c
+31
View File
@@ -1941,6 +1941,37 @@ PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_YAW, 0);
/**
* Single channel flight mode selection
*
* If this parameter is non-zero, flight modes are only selected
* by this channel and are assigned to six slots.
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 RC Channel 1
* @value 2 RC Channel 2
* @value 3 RC Channel 3
* @value 4 RC Channel 4
* @value 5 RC Channel 5
* @value 6 RC Channel 6
* @value 7 RC Channel 7
* @value 8 RC Channel 8
* @value 9 RC Channel 9
* @value 10 RC Channel 10
* @value 11 RC Channel 11
* @value 12 RC Channel 12
* @value 13 RC Channel 13
* @value 14 RC Channel 14
* @value 15 RC Channel 15
* @value 16 RC Channel 16
* @value 17 RC Channel 17
* @value 18 RC Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_FLTMODE, 0);
/**
* Mode switch channel mapping.
*
src/modules/sensors/sensors.cpp
+37 -20
View File
@@ -298,6 +298,8 @@ private:
int rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
int rc_map_flightmode;
int32_t rc_fails_thr;
float rc_assist_th;
float rc_auto_th;
@@ -364,6 +366,8 @@ private:
_parameters struct are not existing
because these parameters are never read. */
param_t rc_map_flightmode;
param_t rc_fails_thr;
param_t rc_assist_th;
param_t rc_auto_th;
@@ -600,6 +604,8 @@ Sensors::Sensors() :
_parameter_handles.rc_map_param[i] = param_find(name);
}
_parameter_handles.rc_map_flightmode = param_find("RC_MAP_FLTMODE");
/* RC thresholds */
_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
@@ -790,6 +796,8 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i]));
}
param_get(_parameter_handles.rc_map_flightmode, &(_parameters.rc_map_flightmode));
param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
_parameters.rc_assist_inv = (_parameters.rc_assist_th < 0);
@@ -1870,8 +1878,7 @@ Sensors::rc_poll()
}
if (!signal_lost) {
struct manual_control_setpoint_s manual;
memset(&manual, 0 , sizeof(manual));
struct manual_control_setpoint_s manual = {};
/* fill values in manual_control_setpoint topic only if signal is valid */
manual.timestamp = rc_input.timestamp_last_signal;
@@ -1888,24 +1895,34 @@ Sensors::rc_poll()
manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
/* mode switches */
manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th,
_parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
_parameters.rc_rattitude_th,
_parameters.rc_rattitude_inv);
manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th,
_parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th,
_parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th,
_parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th,
_parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
if (_parameters.rc_map_flightmode > 0) {
const unsigned slot_min = 1000;
const unsigned slot_max = 2000;
const unsigned num_slots = 6;
manual.mode_slot = ((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) / (slot_max - slot_min);
} else {
/* mode switches */
manual.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th,
_parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
manual.rattitude_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE,
_parameters.rc_rattitude_th,
_parameters.rc_rattitude_inv);
manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th,
_parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th,
_parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th,
_parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th,
_parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
}
/* publish manual_control_setpoint topic */
if (_manual_control_pub != nullptr) {