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rc_update: cleanup parameter usage

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This commit is contained in:
Daniel Agar
2019-12-23 23:47:34 +01:00
committed by Lorenz Meier
parent acd18adc18
commit 57fc98812d
6 changed files with 227 additions and 615 deletions
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src/modules/rc_update/CMakeLists.txt
+2 -1
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@@ -36,7 +36,8 @@ px4_add_module(
MAIN rc_update
SRCS
rc_update.cpp
parameters.cpp
rc_update.h
DEPENDS
mathlib
px4_work_queue
)
src/modules/rc_update/parameters.cpp
-325
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@@ -1,325 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file parameters.cpp
*
* @author Beat Kueng <beat-kueng@gmx.net>
*/
#include "parameters.h"
namespace RCUpdate
{
void initialize_parameter_handles(ParameterHandles &parameter_handles)
{
/* basic r/c parameters */
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
char nbuf[16];
/* min values */
sprintf(nbuf, "RC%d_MIN", i + 1);
parameter_handles.min[i] = param_find(nbuf);
/* trim values */
sprintf(nbuf, "RC%d_TRIM", i + 1);
parameter_handles.trim[i] = param_find(nbuf);
/* max values */
sprintf(nbuf, "RC%d_MAX", i + 1);
parameter_handles.max[i] = param_find(nbuf);
/* channel reverse */
sprintf(nbuf, "RC%d_REV", i + 1);
parameter_handles.rev[i] = param_find(nbuf);
/* channel deadzone */
sprintf(nbuf, "RC%d_DZ", i + 1);
parameter_handles.dz[i] = param_find(nbuf);
}
/* mandatory input switched, mapped to channels 1-4 per default */
parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL");
parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
/* mandatory mode switches, mapped to channel 5 and 6 per default */
parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW");
parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
parameter_handles.rc_map_rattitude_sw = param_find("RC_MAP_RATT_SW");
parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
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_arm_sw = param_find("RC_MAP_ARM_SW");
parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
parameter_handles.rc_map_gear_sw = param_find("RC_MAP_GEAR_SW");
parameter_handles.rc_map_stab_sw = param_find("RC_MAP_STAB_SW");
parameter_handles.rc_map_man_sw = param_find("RC_MAP_MAN_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_map_aux4 = param_find("RC_MAP_AUX4");
parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
parameter_handles.rc_map_aux6 = param_find("RC_MAP_AUX6");
/* RC to parameter mapping for changing parameters with RC */
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
char name[rc_parameter_map_s::PARAM_ID_LEN];
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d",
i + 1); // shifted by 1 because param name starts at 1
parameter_handles.rc_map_param[i] = param_find(name);
}
parameter_handles.rc_map_flightmode = param_find("RC_MAP_FLTMODE");
/* RC thresholds */
parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
parameter_handles.rc_rattitude_th = param_find("RC_RATT_TH");
parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
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_armswitch_th = param_find("RC_ARMSWITCH_TH");
parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
parameter_handles.rc_gear_th = param_find("RC_GEAR_TH");
parameter_handles.rc_stab_th = param_find("RC_STAB_TH");
parameter_handles.rc_man_th = param_find("RC_MAN_TH");
/* RC low pass filter configuration */
parameter_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE");
parameter_handles.rc_flt_cutoff = param_find("RC_FLT_CUTOFF");
// These are parameters for which QGroundControl always expects to be returned in a list request.
// We do a param_find here to force them into the list.
(void)param_find("RC_CHAN_CNT");
}
int update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters)
{
bool rc_valid = true;
float tmpScaleFactor = 0.0f;
float tmpRevFactor = 0.0f;
int ret = PX4_OK;
/* rc values */
for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
param_get(parameter_handles.min[i], &(parameters.min[i]));
param_get(parameter_handles.trim[i], &(parameters.trim[i]));
param_get(parameter_handles.max[i], &(parameters.max[i]));
param_get(parameter_handles.rev[i], &(parameters.rev[i]));
param_get(parameter_handles.dz[i], &(parameters.dz[i]));
tmpScaleFactor = (1.0f / ((parameters.max[i] - parameters.min[i]) / 2.0f) * parameters.rev[i]);
tmpRevFactor = tmpScaleFactor * parameters.rev[i];
/* handle blowup in the scaling factor calculation */
if (!PX4_ISFINITE(tmpScaleFactor) ||
(tmpRevFactor < 0.000001f) ||
(tmpRevFactor > 0.2f)) {
PX4_WARN("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(parameters.rev[i]));
/* scaling factors do not make sense, lock them down */
parameters.scaling_factor[i] = 0.0f;
rc_valid = false;
} else {
parameters.scaling_factor[i] = tmpScaleFactor;
}
}
/* handle wrong values */
if (!rc_valid) {
PX4_ERR("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
}
const char *paramerr = "FAIL PARM LOAD";
/* channel mapping */
if (param_get(parameter_handles.rc_map_roll, &(parameters.rc_map_roll)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_pitch, &(parameters.rc_map_pitch)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_yaw, &(parameters.rc_map_yaw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_throttle, &(parameters.rc_map_throttle)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_failsafe, &(parameters.rc_map_failsafe)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_mode_sw, &(parameters.rc_map_mode_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_return_sw, &(parameters.rc_map_return_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_rattitude_sw, &(parameters.rc_map_rattitude_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_posctl_sw, &(parameters.rc_map_posctl_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_loiter_sw, &(parameters.rc_map_loiter_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_acro_sw, &(parameters.rc_map_acro_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_offboard_sw, &(parameters.rc_map_offboard_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_kill_sw, &(parameters.rc_map_kill_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_arm_sw, &(parameters.rc_map_arm_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_trans_sw, &(parameters.rc_map_trans_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_flaps, &(parameters.rc_map_flaps)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_gear_sw, &(parameters.rc_map_gear_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_stab_sw, &(parameters.rc_map_stab_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_man_sw, &(parameters.rc_map_man_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
param_get(parameter_handles.rc_map_aux1, &(parameters.rc_map_aux1));
param_get(parameter_handles.rc_map_aux2, &(parameters.rc_map_aux2));
param_get(parameter_handles.rc_map_aux3, &(parameters.rc_map_aux3));
param_get(parameter_handles.rc_map_aux4, &(parameters.rc_map_aux4));
param_get(parameter_handles.rc_map_aux5, &(parameters.rc_map_aux5));
param_get(parameter_handles.rc_map_aux6, &(parameters.rc_map_aux6));
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
param_get(parameter_handles.rc_map_param[i], &(parameters.rc_map_param[i]));
}
param_get(parameter_handles.rc_map_flightmode, &(parameters.rc_map_flightmode));
param_get(parameter_handles.rc_fails_thr, &(parameters.rc_fails_thr));
param_get(parameter_handles.rc_assist_th, &(parameters.rc_assist_th));
parameters.rc_assist_inv = (parameters.rc_assist_th < 0);
parameters.rc_assist_th = fabsf(parameters.rc_assist_th);
param_get(parameter_handles.rc_auto_th, &(parameters.rc_auto_th));
parameters.rc_auto_inv = (parameters.rc_auto_th < 0);
parameters.rc_auto_th = fabsf(parameters.rc_auto_th);
param_get(parameter_handles.rc_rattitude_th, &(parameters.rc_rattitude_th));
parameters.rc_rattitude_inv = (parameters.rc_rattitude_th < 0);
parameters.rc_rattitude_th = fabsf(parameters.rc_rattitude_th);
param_get(parameter_handles.rc_posctl_th, &(parameters.rc_posctl_th));
parameters.rc_posctl_inv = (parameters.rc_posctl_th < 0);
parameters.rc_posctl_th = fabsf(parameters.rc_posctl_th);
param_get(parameter_handles.rc_return_th, &(parameters.rc_return_th));
parameters.rc_return_inv = (parameters.rc_return_th < 0);
parameters.rc_return_th = fabsf(parameters.rc_return_th);
param_get(parameter_handles.rc_loiter_th, &(parameters.rc_loiter_th));
parameters.rc_loiter_inv = (parameters.rc_loiter_th < 0);
parameters.rc_loiter_th = fabsf(parameters.rc_loiter_th);
param_get(parameter_handles.rc_acro_th, &(parameters.rc_acro_th));
parameters.rc_acro_inv = (parameters.rc_acro_th < 0);
parameters.rc_acro_th = fabsf(parameters.rc_acro_th);
param_get(parameter_handles.rc_offboard_th, &(parameters.rc_offboard_th));
parameters.rc_offboard_inv = (parameters.rc_offboard_th < 0);
parameters.rc_offboard_th = fabsf(parameters.rc_offboard_th);
param_get(parameter_handles.rc_killswitch_th, &(parameters.rc_killswitch_th));
parameters.rc_killswitch_inv = (parameters.rc_killswitch_th < 0);
parameters.rc_killswitch_th = fabsf(parameters.rc_killswitch_th);
param_get(parameter_handles.rc_armswitch_th, &(parameters.rc_armswitch_th));
parameters.rc_armswitch_inv = (parameters.rc_armswitch_th < 0);
parameters.rc_armswitch_th = fabsf(parameters.rc_armswitch_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 = fabsf(parameters.rc_trans_th);
param_get(parameter_handles.rc_gear_th, &(parameters.rc_gear_th));
parameters.rc_gear_inv = (parameters.rc_gear_th < 0);
parameters.rc_gear_th = fabsf(parameters.rc_gear_th);
param_get(parameter_handles.rc_stab_th, &(parameters.rc_stab_th));
parameters.rc_stab_inv = (parameters.rc_stab_th < 0);
parameters.rc_stab_th = fabsf(parameters.rc_stab_th);
param_get(parameter_handles.rc_man_th, &(parameters.rc_man_th));
parameters.rc_man_inv = (parameters.rc_man_th < 0);
parameters.rc_man_th = fabsf(parameters.rc_man_th);
param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate));
parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate);
param_get(parameter_handles.rc_flt_cutoff, &(parameters.rc_flt_cutoff));
/* make sure the filter is in its stable region -> fc < fs/2 */
parameters.rc_flt_cutoff = math::min(parameters.rc_flt_cutoff, (parameters.rc_flt_smp_rate / 2) - 1.f);
return ret;
}
} /* namespace RCUpdate */
src/modules/rc_update/parameters.h
-207
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@@ -1,207 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
/**
* @file parameters.h
*
* defines the list of parameters that are used within the RCUpdate module
*
* @author Beat Kueng <beat-kueng@gmx.net>
*/
#include <px4_platform_common/px4_config.h>
#include <drivers/drv_rc_input.h>
#include <parameters/param.h>
#include <mathlib/mathlib.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/input_rc.h>
namespace RCUpdate
{
static constexpr unsigned RC_MAX_CHAN_COUNT =
input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
struct Parameters {
float min[RC_MAX_CHAN_COUNT];
float trim[RC_MAX_CHAN_COUNT];
float max[RC_MAX_CHAN_COUNT];
float rev[RC_MAX_CHAN_COUNT];
float dz[RC_MAX_CHAN_COUNT];
float scaling_factor[RC_MAX_CHAN_COUNT];
int32_t rc_map_roll;
int32_t rc_map_pitch;
int32_t rc_map_yaw;
int32_t rc_map_throttle;
int32_t rc_map_failsafe;
int32_t rc_map_mode_sw;
int32_t rc_map_return_sw;
int32_t rc_map_rattitude_sw;
int32_t rc_map_posctl_sw;
int32_t rc_map_loiter_sw;
int32_t rc_map_acro_sw;
int32_t rc_map_offboard_sw;
int32_t rc_map_kill_sw;
int32_t rc_map_arm_sw;
int32_t rc_map_trans_sw;
int32_t rc_map_gear_sw;
int32_t rc_map_stab_sw;
int32_t rc_map_man_sw;
int32_t rc_map_flaps;
int32_t rc_map_aux1;
int32_t rc_map_aux2;
int32_t rc_map_aux3;
int32_t rc_map_aux4;
int32_t rc_map_aux5;
int32_t rc_map_aux6;
int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
int32_t rc_map_flightmode;
int32_t rc_fails_thr;
float rc_assist_th;
float rc_auto_th;
float rc_rattitude_th;
float rc_posctl_th;
float rc_return_th;
float rc_loiter_th;
float rc_acro_th;
float rc_offboard_th;
float rc_killswitch_th;
float rc_armswitch_th;
float rc_trans_th;
float rc_gear_th;
float rc_stab_th;
float rc_man_th;
bool rc_assist_inv;
bool rc_auto_inv;
bool rc_rattitude_inv;
bool rc_posctl_inv;
bool rc_return_inv;
bool rc_loiter_inv;
bool rc_acro_inv;
bool rc_offboard_inv;
bool rc_killswitch_inv;
bool rc_armswitch_inv;
bool rc_trans_inv;
bool rc_gear_inv;
bool rc_stab_inv;
bool rc_man_inv;
float rc_flt_smp_rate;
float rc_flt_cutoff;
};
struct ParameterHandles {
param_t min[RC_MAX_CHAN_COUNT];
param_t trim[RC_MAX_CHAN_COUNT];
param_t max[RC_MAX_CHAN_COUNT];
param_t rev[RC_MAX_CHAN_COUNT];
param_t dz[RC_MAX_CHAN_COUNT];
param_t rc_map_roll;
param_t rc_map_pitch;
param_t rc_map_yaw;
param_t rc_map_throttle;
param_t rc_map_failsafe;
param_t rc_map_mode_sw;
param_t rc_map_return_sw;
param_t rc_map_rattitude_sw;
param_t rc_map_posctl_sw;
param_t rc_map_loiter_sw;
param_t rc_map_acro_sw;
param_t rc_map_offboard_sw;
param_t rc_map_kill_sw;
param_t rc_map_arm_sw;
param_t rc_map_trans_sw;
param_t rc_map_gear_sw;
param_t rc_map_flaps;
param_t rc_map_stab_sw;
param_t rc_map_man_sw;
param_t rc_map_aux1;
param_t rc_map_aux2;
param_t rc_map_aux3;
param_t rc_map_aux4;
param_t rc_map_aux5;
param_t rc_map_aux6;
param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
to a RC channel, equivalent float values in the
_parameters struct are not existing
because these parameters are never read. */
param_t rc_map_flightmode;
param_t rc_fails_thr;
param_t rc_assist_th;
param_t rc_auto_th;
param_t rc_rattitude_th;
param_t rc_posctl_th;
param_t rc_return_th;
param_t rc_loiter_th;
param_t rc_acro_th;
param_t rc_offboard_th;
param_t rc_killswitch_th;
param_t rc_armswitch_th;
param_t rc_trans_th;
param_t rc_gear_th;
param_t rc_stab_th;
param_t rc_man_th;
param_t rc_flt_smp_rate;
param_t rc_flt_cutoff;
};
/**
* initialize ParameterHandles struct
*/
void initialize_parameter_handles(ParameterHandles &parameter_handles);
/**
* Read out the parameters using the handles into the parameters struct.
* @return 0 on success, <0 on error
*/
int update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters);
} /* namespace RCUpdate */
src/modules/rc_update/rc_params.c → src/modules/rc_update/params.c
View File
src/modules/rc_update/rc_update.cpp
+138 -73
View File
@@ -39,7 +39,7 @@
#include "rc_update.h"
#include "parameters.h"
using namespace time_literals;
namespace RCUpdate
{
@@ -47,13 +47,41 @@ namespace RCUpdate
RCUpdate::RCUpdate() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME)),
_filter_roll(50.0f, 10.f), /* get replaced by parameter */
_filter_pitch(50.0f, 10.f),
_filter_yaw(50.0f, 10.f),
_filter_throttle(50.0f, 10.f)
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME))
{
initialize_parameter_handles(_parameter_handles);
// initialize parameter handles
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
char nbuf[16];
/* min values */
sprintf(nbuf, "RC%d_MIN", i + 1);
_parameter_handles.min[i] = param_find(nbuf);
/* trim values */
sprintf(nbuf, "RC%d_TRIM", i + 1);
_parameter_handles.trim[i] = param_find(nbuf);
/* max values */
sprintf(nbuf, "RC%d_MAX", i + 1);
_parameter_handles.max[i] = param_find(nbuf);
/* channel reverse */
sprintf(nbuf, "RC%d_REV", i + 1);
_parameter_handles.rev[i] = param_find(nbuf);
/* channel deadzone */
sprintf(nbuf, "RC%d_DZ", i + 1);
_parameter_handles.dz[i] = param_find(nbuf);
}
// RC to parameter mapping for changing parameters with RC
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
// shifted by 1 because param name starts at 1
char name[rc_parameter_map_s::PARAM_ID_LEN];
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1);
_parameter_handles.rc_map_param[i] = param_find(name);
}
rc_parameter_map_poll(true /* forced */);
parameters_updated();
@@ -78,8 +106,46 @@ RCUpdate::init()
void
RCUpdate::parameters_updated()
{
/* read the parameter values into _parameters */
update_parameters(_parameter_handles, _parameters);
if (_param_rc_flt_smp_rate.get() < 1.0f) {
_param_rc_flt_smp_rate.set(1.0f);
_param_rc_flt_smp_rate.commit_no_notification();
}
// make sure the filter is in its stable region -> fc < fs/2
const float flt_cutoff_min = _param_rc_flt_smp_rate.get() / 2.0f - 1.0f;
if (_param_rc_flt_cutoff.get() < flt_cutoff_min) {
_param_rc_flt_cutoff.set(flt_cutoff_min);
_param_rc_flt_cutoff.commit_no_notification();
}
// rc values
for (unsigned int i = 0; i < RC_MAX_CHAN_COUNT; i++) {
float min = 0.0f;
param_get(_parameter_handles.min[i], &min);
_parameters.min[i] = min;
float trim = 0.0f;
param_get(_parameter_handles.trim[i], &trim);
_parameters.trim[i] = trim;
float max = 0.0f;
param_get(_parameter_handles.max[i], &max);
_parameters.max[i] = max;
float rev = 0.0f;
param_get(_parameter_handles.rev[i], &rev);
_parameters.rev[i] = rev < 0.0f;
float dz = 0.0f;
param_get(_parameter_handles.dz[i], &dz);
_parameters.dz[i] = dz;
}
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i]));
}
update_rc_functions();
}
@@ -88,43 +154,43 @@ void
RCUpdate::update_rc_functions()
{
/* update RC function mappings */
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _param_rc_map_throttle.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _param_rc_map_roll.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _param_rc_map_pitch.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _param_rc_map_yaw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _parameters.rc_map_rattitude_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
_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_ARMSWITCH] = _parameters.rc_map_arm_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_GEAR] = _parameters.rc_map_gear_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _parameters.rc_map_stab_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _parameters.rc_map_man_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _param_rc_map_mode_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _param_rc_map_return_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RATTITUDE] = _param_rc_map_ratt_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _param_rc_map_posctl_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _param_rc_map_acro_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _param_rc_map_gear_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _param_rc_map_stab_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _param_rc_map_man_sw.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _param_rc_map_flaps.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _parameters.rc_map_aux6 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _param_rc_map_aux1.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _param_rc_map_aux2.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _param_rc_map_aux3.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _param_rc_map_aux4.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _param_rc_map_aux5.get() - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _param_rc_map_aux6.get() - 1;
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
/* update the RC low pass filter frequencies */
_filter_roll.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
_filter_pitch.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
_filter_yaw.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
_filter_throttle.set_cutoff_frequency(_parameters.rc_flt_smp_rate, _parameters.rc_flt_cutoff);
_filter_roll.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_pitch.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_yaw.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_throttle.set_cutoff_frequency(_param_rc_flt_smp_rate.get(), _param_rc_flt_cutoff.get());
_filter_roll.reset(0.f);
_filter_pitch.reset(0.f);
_filter_yaw.reset(0.f);
@@ -242,6 +308,7 @@ RCUpdate::set_params_from_rc()
float param_val = math::constrain(
_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
param_set(_parameter_handles.rc_param[i], &param_val);
}
}
@@ -289,16 +356,16 @@ RCUpdate::Run()
signal_lost = false;
/* check failsafe */
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
int8_t fs_ch = _rc.function[_param_rc_map_failsafe.get()]; // get channel mapped to throttle
if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
fs_ch = _parameters.rc_map_failsafe - 1;
if (_param_rc_map_failsafe.get() > 0) { // if not 0, use channel number instead of rc.function mapping
fs_ch = _param_rc_map_failsafe.get() - 1;
}
if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
if (_param_rc_fails_thr.get() > 0 && fs_ch >= 0) {
/* failsafe configured */
if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
if ((_param_rc_fails_thr.get() < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _param_rc_fails_thr.get()) ||
(_param_rc_fails_thr.get() > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _param_rc_fails_thr.get())) {
/* failsafe triggered, signal is lost by receiver */
signal_lost = true;
}
@@ -317,13 +384,7 @@ RCUpdate::Run()
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (rc_input.values[i] < _parameters.min[i]) {
rc_input.values[i] = _parameters.min[i];
}
if (rc_input.values[i] > _parameters.max[i]) {
rc_input.values[i] = _parameters.max[i];
}
rc_input.values[i] = math::constrain(rc_input.values[i], _parameters.min[i], _parameters.max[i]);
/*
* 2) Scale around the mid point differently for lower and upper range.
@@ -354,7 +415,10 @@ RCUpdate::Run()
_rc.channels[i] = 0.0f;
}
_rc.channels[i] *= _parameters.rev[i];
if (_parameters.rev[i]) {
_rc.channels[i] = -1.0f * _rc.channels[i];
}
/* handle any parameter-induced blowups */
if (!PX4_ISFINITE(_rc.channels[i])) {
@@ -401,7 +465,7 @@ RCUpdate::Run()
manual.r = math::constrain(_filter_yaw.apply(manual.r), -1.f, 1.f);
manual.z = math::constrain(_filter_throttle.apply(manual.z), 0.f, 1.f);
if (_parameters.rc_map_flightmode > 0) {
if (_param_rc_map_fltmode.get() > 0) {
/* number of valid slots */
const int num_slots = manual_control_setpoint_s::MODE_SLOT_NUM;
@@ -419,7 +483,7 @@ RCUpdate::Run()
* slots. And finally we add half a slot width to ensure that integer rounding
* will take us to the correct final index.
*/
manual.mode_slot = (((((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) + slot_width_half) /
manual.mode_slot = (((((_rc.channels[_param_rc_map_fltmode.get() - 1] - slot_min) * num_slots) + slot_width_half) /
(slot_max - slot_min)) + (1.0f / num_slots)) + 1;
if (manual.mode_slot > num_slots) {
@@ -428,33 +492,34 @@ RCUpdate::Run()
}
/* 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.mode_switch = get_rc_sw3pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MODE,
_param_rc_auto_th.get(), _param_rc_auto_th.get() < 0.f,
_param_rc_assist_th.get(), _param_rc_assist_th.get() < 0.f);
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);
_param_rc_ratt_th.get(), _param_rc_ratt_th.get() < 0.f);
manual.posctl_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL,
_param_rc_posctl_th.get(), _param_rc_posctl_th.get() < 0.f);
manual.return_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_RETURN,
_param_rc_return_th.get(), _param_rc_return_th.get() < 0.f);
manual.loiter_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_LOITER,
_param_rc_loiter_th.get(), _param_rc_loiter_th.get() < 0.f);
manual.acro_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ACRO,
_param_rc_acro_th.get(), _param_rc_acro_th.get() < 0.f);
manual.offboard_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD,
_parameters.rc_offboard_th, _parameters.rc_offboard_inv);
_param_rc_offb_th.get(), _param_rc_offb_th.get() < 0.f);
manual.kill_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_KILLSWITCH,
_parameters.rc_killswitch_th, _parameters.rc_killswitch_inv);
_param_rc_killswitch_th.get(), _param_rc_killswitch_th.get() < 0.f);
manual.arm_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH,
_parameters.rc_armswitch_th, _parameters.rc_armswitch_inv);
_param_rc_armswitch_th.get(), _param_rc_armswitch_th.get() < 0.f);
manual.transition_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION,
_parameters.rc_trans_th, _parameters.rc_trans_inv);
_param_rc_trans_th.get(), _param_rc_trans_th.get() < 0.f);
manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
_parameters.rc_gear_th, _parameters.rc_gear_inv);
_param_rc_gear_th.get(), _param_rc_gear_th.get() < 0.f);
manual.stab_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_STAB,
_parameters.rc_stab_th, _parameters.rc_stab_inv);
_param_rc_stab_th.get(), _param_rc_stab_th.get() < 0.f);
manual.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN,
_parameters.rc_man_th, _parameters.rc_man_inv);
_param_rc_man_th.get(), _param_rc_man_th.get() < 0.f);
/* publish manual_control_setpoint topic */
_manual_control_pub.publish(manual);
@@ -477,7 +542,7 @@ RCUpdate::Run()
_actuator_group_3_pub.publish(actuator_group_3);
/* Update parameters from RC Channels (tuning with RC) if activated */
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1e6) {
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1_s) {
set_params_from_rc();
_last_rc_to_param_map_time = hrt_absolute_time();
}
src/modules/rc_update/rc_update.h
+87 -9
View File
@@ -39,8 +39,6 @@
* @author Beat Kueng <beat-kueng@gmx.net>
*/
#include "parameters.h"
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
@@ -57,6 +55,7 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/parameter_update.h>
@@ -123,10 +122,31 @@ private:
*/
void set_params_from_rc();
perf_counter_t _loop_perf; /**< loop performance counter */
static constexpr unsigned RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
Parameters _parameters{}; /**< local copies of interesting parameters */
ParameterHandles _parameter_handles{}; /**< handles for interesting parameters */
struct Parameters {
uint16_t min[RC_MAX_CHAN_COUNT];
uint16_t trim[RC_MAX_CHAN_COUNT];
uint16_t max[RC_MAX_CHAN_COUNT];
uint16_t dz[RC_MAX_CHAN_COUNT];
bool rev[RC_MAX_CHAN_COUNT];
int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
} _parameters{};
struct ParameterHandles {
param_t min[RC_MAX_CHAN_COUNT];
param_t trim[RC_MAX_CHAN_COUNT];
param_t max[RC_MAX_CHAN_COUNT];
param_t rev[RC_MAX_CHAN_COUNT];
param_t dz[RC_MAX_CHAN_COUNT];
param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
to a RC channel, equivalent float values in the
_parameters struct are not existing
because these parameters are never read. */
} _parameter_handles{};
uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
@@ -145,10 +165,68 @@ private:
hrt_abstime _last_rc_to_param_map_time = 0;
math::LowPassFilter2p _filter_roll; /**< filters for the main 4 stick inputs */
math::LowPassFilter2p _filter_pitch; /** we want smooth setpoints as inputs to the controllers */
math::LowPassFilter2p _filter_yaw;
math::LowPassFilter2p _filter_throttle;
math::LowPassFilter2p _filter_roll{50.0f, 10.f}; /**< filters for the main 4 stick inputs */
math::LowPassFilter2p _filter_pitch{50.0f, 10.f}; /** we want smooth setpoints as inputs to the controllers */
math::LowPassFilter2p _filter_yaw{50.0f, 10.f};
math::LowPassFilter2p _filter_throttle{50.0f, 10.f};
perf_counter_t _loop_perf; /**< loop performance counter */
DEFINE_PARAMETERS(
(ParamInt<px4::params::RC_MAP_ROLL>) _param_rc_map_roll,
(ParamInt<px4::params::RC_MAP_PITCH>) _param_rc_map_pitch,
(ParamInt<px4::params::RC_MAP_YAW>) _param_rc_map_yaw,
(ParamInt<px4::params::RC_MAP_THROTTLE>) _param_rc_map_throttle,
(ParamInt<px4::params::RC_MAP_FAILSAFE>) _param_rc_map_failsafe,
(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
(ParamInt<px4::params::RC_MAP_MODE_SW>) _param_rc_map_mode_sw,
(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
(ParamInt<px4::params::RC_MAP_RATT_SW>) _param_rc_map_ratt_sw,
(ParamInt<px4::params::RC_MAP_POSCTL_SW>) _param_rc_map_posctl_sw,
(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
(ParamInt<px4::params::RC_MAP_ACRO_SW>) _param_rc_map_acro_sw,
(ParamInt<px4::params::RC_MAP_OFFB_SW>) _param_rc_map_offb_sw,
(ParamInt<px4::params::RC_MAP_KILL_SW>) _param_rc_map_kill_sw,
(ParamInt<px4::params::RC_MAP_ARM_SW>) _param_rc_map_arm_sw,
(ParamInt<px4::params::RC_MAP_TRANS_SW>) _param_rc_map_trans_sw,
(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
(ParamInt<px4::params::RC_MAP_STAB_SW>) _param_rc_map_stab_sw,
(ParamInt<px4::params::RC_MAP_MAN_SW>) _param_rc_map_man_sw,
(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,
(ParamInt<px4::params::RC_MAP_AUX3>) _param_rc_map_aux3,
(ParamInt<px4::params::RC_MAP_AUX4>) _param_rc_map_aux4,
(ParamInt<px4::params::RC_MAP_AUX5>) _param_rc_map_aux5,
(ParamInt<px4::params::RC_MAP_AUX6>) _param_rc_map_aux6,
(ParamInt<px4::params::RC_FAILS_THR>) _param_rc_fails_thr,
(ParamFloat<px4::params::RC_ASSIST_TH>) _param_rc_assist_th,
(ParamFloat<px4::params::RC_AUTO_TH>) _param_rc_auto_th,
(ParamFloat<px4::params::RC_RATT_TH>) _param_rc_ratt_th,
(ParamFloat<px4::params::RC_POSCTL_TH>) _param_rc_posctl_th,
(ParamFloat<px4::params::RC_LOITER_TH>) _param_rc_loiter_th,
(ParamFloat<px4::params::RC_ACRO_TH>) _param_rc_acro_th,
(ParamFloat<px4::params::RC_OFFB_TH>) _param_rc_offb_th,
(ParamFloat<px4::params::RC_KILLSWITCH_TH>) _param_rc_killswitch_th,
(ParamFloat<px4::params::RC_ARMSWITCH_TH>) _param_rc_armswitch_th,
(ParamFloat<px4::params::RC_TRANS_TH>) _param_rc_trans_th,
(ParamFloat<px4::params::RC_GEAR_TH>) _param_rc_gear_th,
(ParamFloat<px4::params::RC_STAB_TH>) _param_rc_stab_th,
(ParamFloat<px4::params::RC_MAN_TH>) _param_rc_man_th,
(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
(ParamFloat<px4::params::RC_FLT_SMP_RATE>) _param_rc_flt_smp_rate,
(ParamFloat<px4::params::RC_FLT_CUTOFF>) _param_rc_flt_cutoff,
(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt
)
};