fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 17:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of github.com:PX4/Firmware into paul_estimator

Browse Source
This commit is contained in:
Lorenz Meier
2014-02-02 11:07:31 +01:00
parent 80d645ada8 243a28ff8b
commit 3f7a1f881b
2 changed files with 15 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+5 -1
View File
@@ -1403,7 +1403,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
{
/* main mode switch */
if (!isfinite(sp_man->mode_switch)) {
warnx("mode sw not finite");
/* default to manual if signal is invalid */
current_status->mode_switch = MODE_SWITCH_MANUAL;
} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
@@ -1864,6 +1864,10 @@ void *commander_low_prio_loop(void *arg)
break;
}
case VEHICLE_CMD_START_RX_PAIR:
/* handled in the IO driver */
break;
default:
answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
break;
src/modules/sensors/sensors.cpp
+10 -12
View File
@@ -1406,18 +1406,6 @@ Sensors::rc_poll()
manual_control.yaw *= _parameters.rc_scale_yaw;
}
/* mode switch input */
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
/* land switch input */
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
/* assisted switch input */
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
/* mission switch input */
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
/* flaps */
if (_rc.function[FLAPS] >= 0) {
@@ -1436,6 +1424,16 @@ Sensors::rc_poll()
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* land switch input */
if (_rc.function[RETURN] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
/* assisted switch input */
if (_rc.function[ASSISTED] >= 0) {
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].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);
// }