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propagate uorb contants change through all modules/drivers

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This commit is contained in:
Thomas Gubler
2015-01-28 16:31:41 +01:00
parent 01835a51a8
commit 2d124852c1
16 changed files with 376 additions and 376 deletions
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src/modules/sensors/sensors.cpp
+43 -43
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@@ -813,28 +813,28 @@ Sensors::parameters_update()
_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
/* update RC function mappings */
_rc.function[RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
_rc.function[RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
_rc.function[RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
_rc.function[RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
/* gyro offsets */
@@ -1498,7 +1498,7 @@ Sensors::rc_parameter_map_poll(bool forced)
orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
/* update paramter handles to which the RC channels are mapped */
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
if (_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
*/
@@ -1673,17 +1673,17 @@ Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mi
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
return manual_control_setpoint_s::SWITCH_POS_ON;
} else if (mid_inv ? value < mid_th : value > mid_th) {
return SWITCH_POS_MIDDLE;
return manual_control_setpoint_s::SWITCH_POS_MIDDLE;
} else {
return SWITCH_POS_OFF;
return manual_control_setpoint_s::SWITCH_POS_OFF;
}
} else {
return SWITCH_POS_NONE;
return manual_control_setpoint_s::SWITCH_POS_NONE;
}
}
@@ -1694,14 +1694,14 @@ Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
if (on_inv ? value < on_th : value > on_th) {
return SWITCH_POS_ON;
return manual_control_setpoint_s::SWITCH_POS_ON;
} else {
return SWITCH_POS_OFF;
return manual_control_setpoint_s::SWITCH_POS_OFF;
}
} else {
return SWITCH_POS_NONE;
return manual_control_setpoint_s::SWITCH_POS_NONE;
}
}
@@ -1710,14 +1710,14 @@ Sensors::set_params_from_rc()
{
static float param_rc_values[RC_PARAM_MAP_NCHAN] = {};
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
if (_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
*/
continue;
}
float rc_val = get_rc_value((RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
float rc_val = get_rc_value( (rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
/* Check if the value has changed,
* maybe we need to introduce a more aggressive limit here */
if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) {
@@ -1847,24 +1847,24 @@ Sensors::rc_poll()
manual.timestamp = rc_input.timestamp_last_signal;
/* limit controls */
manual.y = get_rc_value(RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
manual.x = get_rc_value(RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
manual.r = get_rc_value(RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
manual.z = get_rc_value(RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value(RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
manual.aux4 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
manual.y = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
manual.x = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
manual.r = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
manual.z = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
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_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
manual.posctl_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
manual.return_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
manual.acro_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
manual.offboard_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
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.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);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {