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sensors: ASSISTED switch channel added

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This commit is contained in:
Anton Babushkin
2013-07-22 22:37:10 +04:00
parent 963abd66ba
commit 55fd19f281
3 changed files with 28 additions and 11 deletions
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src/modules/sensors/sensors.cpp
+13 -1
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@@ -208,6 +208,7 @@ private:
int rc_map_mode_sw;
int rc_map_return_sw;
int rc_map_assisted_sw;
int rc_map_mission_sw;
// int rc_map_offboard_ctrl_mode_sw;
@@ -256,6 +257,7 @@ private:
param_t rc_map_mode_sw;
param_t rc_map_return_sw;
param_t rc_map_assisted_sw;
param_t rc_map_mission_sw;
// param_t rc_map_offboard_ctrl_mode_sw;
@@ -464,6 +466,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -617,6 +620,10 @@ Sensors::parameters_update()
warnx("Failed getting return sw chan index");
}
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
warnx("Failed getting assisted sw chan index");
}
if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
warnx("Failed getting mission sw chan index");
}
@@ -673,6 +680,7 @@ Sensors::parameters_update()
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
_rc.function[MISSION] = _parameters.rc_map_mission_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1142,6 +1150,7 @@ Sensors::ppm_poll()
manual_control.mode_switch = NAN;
manual_control.return_switch = NAN;
manual_control.assisted_switch = NAN;
manual_control.mission_switch = NAN;
// manual_control.auto_offboard_input_switch = NAN;
@@ -1249,7 +1258,10 @@ Sensors::ppm_poll()
/* land switch input */
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
/* land switch input */
/* 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 */