From 351ab38179060450d2527035979c12173347e97f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 6 Mar 2016 12:48:14 +0100 Subject: [PATCH] Fix additional switch eval --- src/modules/sensors/sensors.cpp | 38 ++++++++++++++++----------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 8ced037d3d..5d6122737f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1906,26 +1906,26 @@ Sensors::rc_poll() manual.mode_slot = ((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * max_index) / (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); } + + /* 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) {