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OFFBOARD switch added, WIP

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This commit is contained in:
Anton Babushkin
2014-01-22 16:52:35 +01:00
parent 93e096f63b
commit 1dc9785083
5 changed files with 34 additions and 21 deletions
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src/modules/sensors/sensors.cpp
+13 -16
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@@ -246,8 +246,7 @@ private:
int rc_map_return_sw;
int rc_map_assisted_sw;
int rc_map_mission_sw;
// int rc_map_offboard_ctrl_mode_sw;
int rc_map_offboard_sw;
int rc_map_flaps;
@@ -296,8 +295,7 @@ private:
param_t rc_map_return_sw;
param_t rc_map_assisted_sw;
param_t rc_map_mission_sw;
// param_t rc_map_offboard_ctrl_mode_sw;
param_t rc_map_offboard_sw;
param_t rc_map_flaps;
@@ -515,8 +513,7 @@ Sensors::Sensors() :
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -669,14 +666,14 @@ Sensors::parameters_update()
warnx("Failed getting mission sw chan index");
}
if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) {
warnx("Failed getting offboard sw chan index");
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("Failed getting flaps chan index");
}
// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
// warnx("Failed getting offboard control mode sw chan index");
// }
param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2));
param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
@@ -700,11 +697,10 @@ Sensors::parameters_update()
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
_rc.function[MISSION] = _parameters.rc_map_mission_sw - 1;
_rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1;
_rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
@@ -1289,7 +1285,7 @@ Sensors::rc_poll()
manual_control.return_switch = NAN;
manual_control.assisted_switch = NAN;
manual_control.mission_switch = NAN;
// manual_control.auto_offboard_input_switch = NAN;
manual_control.offboard_switch = NAN;
manual_control.flaps = NAN;
manual_control.aux1 = NAN;
@@ -1432,9 +1428,10 @@ Sensors::rc_poll()
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
// if (_rc.function[OFFBOARD_MODE] >= 0) {
// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
// }
/* offboard switch input */
if (_rc.function[OFFBOARD_MODE] >= 0) {
manual_control.offboard_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
}
/* aux functions, only assign if valid mapping is present */
if (_rc.function[AUX_1] >= 0) {