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added transition switch

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This commit is contained in:
Roman
2016-07-29 13:28:09 +02:00
committed by Lorenz Meier
parent 302719527a
commit 499d362b8b
4 changed files with 67 additions and 1 deletions
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src/modules/sensors/sensors.cpp
+18
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@@ -305,6 +305,7 @@ private:
int rc_map_acro_sw;
int rc_map_offboard_sw;
int rc_map_kill_sw;
int rc_map_trans_sw;
int rc_map_flaps;
@@ -328,6 +329,7 @@ private:
float rc_acro_th;
float rc_offboard_th;
float rc_killswitch_th;
float rc_trans_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_rattitude_inv;
@@ -337,6 +339,7 @@ private:
bool rc_acro_inv;
bool rc_offboard_inv;
bool rc_killswitch_inv;
bool rc_trans_inv;
float battery_voltage_scaling;
float battery_current_scaling;
@@ -375,6 +378,7 @@ private:
param_t rc_map_acro_sw;
param_t rc_map_offboard_sw;
param_t rc_map_kill_sw;
param_t rc_map_trans_sw;
param_t rc_map_flaps;
@@ -402,6 +406,7 @@ private:
param_t rc_acro_th;
param_t rc_offboard_th;
param_t rc_killswitch_th;
param_t rc_trans_th;
param_t battery_voltage_scaling;
param_t battery_current_scaling;
@@ -650,6 +655,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
_parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW");
_parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -678,6 +684,8 @@ Sensors::Sensors() :
_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
_parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH");
_parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
@@ -850,6 +858,10 @@ Sensors::parameters_update()
PX4_WARN("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_trans_sw, &(_parameters.rc_map_trans_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
PX4_WARN("%s", paramerr);
}
@@ -894,6 +906,9 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_killswitch_th, &(_parameters.rc_killswitch_th));
_parameters.rc_killswitch_inv = (_parameters.rc_killswitch_th < 0);
_parameters.rc_killswitch_th = fabs(_parameters.rc_killswitch_th);
param_get(_parameter_handles.rc_trans_th, &(_parameters.rc_trans_th));
_parameters.rc_trans_inv = (_parameters.rc_trans_th < 0);
_parameters.rc_trans_th = fabs(_parameters.rc_trans_th);
/* update RC function mappings */
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -909,6 +924,7 @@ Sensors::parameters_update()
_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_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _parameters.rc_map_kill_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
@@ -2112,6 +2128,8 @@ Sensors::rc_poll()
_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);
manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
_parameters.rc_trans_th, _parameters.rc_trans_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub != nullptr) {