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Lorenz Meier
2012-11-25 13:56:19 +01:00
parent faa672f8bb c184d7baeb
commit 346d93b271
2 changed files with 33 additions and 7 deletions
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apps/sensors/sensor_params.c
+1 -1
View File
@@ -136,5 +136,5 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 8);
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f);
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f);
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 3.0f);
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f);
apps/sensors/sensors.cpp
+32 -6
View File
@@ -184,6 +184,10 @@ private:
int rc_map_throttle;
int rc_map_mode_sw;
int rc_map_aux1;
int rc_map_aux2;
int rc_map_aux3;
float rc_scale_roll;
float rc_scale_pitch;
float rc_scale_yaw;
@@ -212,6 +216,10 @@ private:
param_t rc_map_throttle;
param_t rc_map_mode_sw;
param_t rc_map_aux1;
param_t rc_map_aux2;
param_t rc_map_aux3;
param_t rc_scale_roll;
param_t rc_scale_pitch;
param_t rc_scale_yaw;
@@ -389,6 +397,9 @@ Sensors::Sensors() :
_parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
_parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
@@ -480,14 +491,20 @@ Sensors::parameters_update()
_parameters.scaling_factor[i] = 0;
}
/* handle wrong values */
// XXX TODO
}
/* update RC function mappings */
_rc.function[0] = _parameters.rc_map_throttle - 1;
_rc.function[1] = _parameters.rc_map_roll - 1;
_rc.function[2] = _parameters.rc_map_pitch - 1;
_rc.function[3] = _parameters.rc_map_yaw - 1;
_rc.function[4] = _parameters.rc_map_mode_sw - 1;
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[ROLL] = _parameters.rc_map_roll - 1;
_rc.function[PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[YAW] = _parameters.rc_map_yaw - 1;
_rc.function[OVERRIDE] = _parameters.rc_map_mode_sw - 1;
_rc.function[FUNC_0] = _parameters.rc_map_aux1 - 1;
_rc.function[FUNC_1] = _parameters.rc_map_aux2 - 1;
_rc.function[FUNC_2] = _parameters.rc_map_aux3 - 1;
/* remote control type */
if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
@@ -510,6 +527,15 @@ Sensors::parameters_update()
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx("Failed getting mode sw chan index");
}
if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
warnx("Failed getting mode aux 1 index");
}
if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
warnx("Failed getting mode aux 2 index");
}
if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
warnx("Failed getting mode aux 3 index");
}
if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
warnx("Failed getting rc scaling for roll");
@@ -990,7 +1016,7 @@ Sensors::ppm_poll()
if (manual_control.override_mode_switch < -1.0f) manual_control.override_mode_switch = -1.0f;
if (manual_control.override_mode_switch > 1.0f) manual_control.override_mode_switch = 1.0f;
/* aux inputs */
/* aux functions */
manual_control.aux1_cam_pan_flaps = _rc.chan[_rc.function[FUNC_0]].scaled;
if (manual_control.aux1_cam_pan_flaps < -1.0f) manual_control.aux1_cam_pan_flaps = -1.0f;
if (manual_control.aux1_cam_pan_flaps > 1.0f) manual_control.aux1_cam_pan_flaps = 1.0f;