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Replaces poshold/althold with posctrl/altctrl

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This commit is contained in:
TickTock-
2014-04-28 21:47:45 -07:00
parent 269800b48c
commit 31089a290b
16 changed files with 97 additions and 97 deletions
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src/modules/sensors/sensor_params.c
+3 -3
View File
@@ -605,7 +605,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_POSHLD_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
/**
* Loiter switch channel mapping.
@@ -703,7 +703,7 @@ PARAM_DEFINE_FLOAT(RC_ASSISTED_TH, 0.25f);
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/**
* Threshold for selecting poshold mode
* Threshold for selecting posctrl mode
*
* min:-1
* max:+1
@@ -716,7 +716,7 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_POSHOLD_TH, 0.5f);
PARAM_DEFINE_FLOAT(RC_POSCTRL_TH, 0.5f);
/**
* Threshold for selecting return to launch mode
src/modules/sensors/sensors.cpp
+13 -13
View File
@@ -255,7 +255,7 @@ private:
int rc_map_mode_sw;
int rc_map_return_sw;
int rc_map_poshold_sw;
int rc_map_posctrl_sw;
int rc_map_loiter_sw;
// int rc_map_offboard_ctrl_mode_sw;
@@ -271,12 +271,12 @@ private:
int32_t rc_fails_thr;
float rc_assisted_th;
float rc_auto_th;
float rc_poshold_th;
float rc_posctrl_th;
float rc_return_th;
float rc_loiter_th;
bool rc_assisted_inv;
bool rc_auto_inv;
bool rc_poshold_inv;
bool rc_posctrl_inv;
bool rc_return_inv;
bool rc_loiter_inv;
@@ -309,7 +309,7 @@ private:
param_t rc_map_mode_sw;
param_t rc_map_return_sw;
param_t rc_map_poshold_sw;
param_t rc_map_posctrl_sw;
param_t rc_map_loiter_sw;
// param_t rc_map_offboard_ctrl_mode_sw;
@@ -325,7 +325,7 @@ private:
param_t rc_fails_thr;
param_t rc_assisted_th;
param_t rc_auto_th;
param_t rc_poshold_th;
param_t rc_posctrl_th;
param_t rc_return_th;
param_t rc_loiter_th;
@@ -526,7 +526,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_poshold_sw = param_find("RC_MAP_POSHLD_SW");
_parameter_handles.rc_map_posctrl_sw = param_find("RC_MAP_POSCTL_SW");
_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -541,7 +541,7 @@ Sensors::Sensors() :
_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
_parameter_handles.rc_assisted_th = param_find("RC_ASSISTED_TH");
_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
_parameter_handles.rc_poshold_th = param_find("RC_POSHOLD_TH");
_parameter_handles.rc_posctrl_th = param_find("RC_POSCTRL_TH");
_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
@@ -678,7 +678,7 @@ Sensors::parameters_update()
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_poshold_sw, &(_parameters.rc_map_poshold_sw)) != OK) {
if (param_get(_parameter_handles.rc_map_posctrl_sw, &(_parameters.rc_map_posctrl_sw)) != OK) {
warnx("%s", paramerr);
}
@@ -706,9 +706,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
_parameters.rc_auto_inv = (_parameters.rc_auto_th<0);
_parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
param_get(_parameter_handles.rc_poshold_th, &(_parameters.rc_poshold_th));
_parameters.rc_poshold_inv = (_parameters.rc_poshold_th<0);
_parameters.rc_poshold_th = fabs(_parameters.rc_poshold_th);
param_get(_parameter_handles.rc_posctrl_th, &(_parameters.rc_posctrl_th));
_parameters.rc_posctrl_inv = (_parameters.rc_posctrl_th<0);
_parameters.rc_posctrl_th = fabs(_parameters.rc_posctrl_th);
param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
_parameters.rc_return_inv = (_parameters.rc_return_th<0);
_parameters.rc_return_th = fabs(_parameters.rc_return_th);
@@ -724,7 +724,7 @@ Sensors::parameters_update()
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[POSHOLD] = _parameters.rc_map_poshold_sw - 1;
_rc.function[POSCTRL] = _parameters.rc_map_posctrl_sw - 1;
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1478,7 +1478,7 @@ Sensors::rc_poll()
/* mode switches */
manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assisted_th, _parameters.rc_assisted_inv);
manual.poshold_switch = get_rc_sw2pos_position(POSHOLD, _parameters.rc_poshold_th, _parameters.rc_poshold_inv);
manual.posctrl_switch = get_rc_sw2pos_position(POSCTRL, _parameters.rc_posctrl_th, _parameters.rc_posctrl_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);