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MISSION switch renamed to LOITER

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This commit is contained in:
Anton Babushkin 2014-04-24 22:38:19 +02:00
parent 56592ec77d
commit 63c50676f9
5 changed files with 12 additions and 12 deletions
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4
src/modules/commander/commander.cpp
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@ -1231,12 +1231,12 @@ int commander_thread_main(int argc, char *argv[])
} else {
/* MISSION switch */
if (sp_man.mission_switch == SWITCH_POS_ON) {
if (sp_man.loiter_switch == SWITCH_POS_ON) {
/* stick is in LOITER position */
status.set_nav_state = NAV_STATE_LOITER;
status.set_nav_state_timestamp = hrt_absolute_time();
} else if (sp_man.mission_switch != SWITCH_POS_NONE) {
} else if (sp_man.loiter_switch != SWITCH_POS_NONE) {
/* stick is in MISSION position */
status.set_nav_state = NAV_STATE_MISSION;
status.set_nav_state_timestamp = hrt_absolute_time();

4
src/modules/sensors/sensor_params.c
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@ -594,13 +594,13 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
/**
* Mission switch channel mapping.
* Loiter switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);

12
src/modules/sensors/sensors.cpp
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@ -254,7 +254,7 @@ private:
int rc_map_mode_sw;
int rc_map_return_sw;
int rc_map_assisted_sw;
int rc_map_mission_sw;
int rc_map_loiter_sw;
// int rc_map_offboard_ctrl_mode_sw;
@ -297,7 +297,7 @@ 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_loiter_sw;
// param_t rc_map_offboard_ctrl_mode_sw;
@ -508,7 +508,7 @@ Sensors::Sensors() :
/* 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_loiter_sw = param_find("RC_MAP_LOITER_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@ -654,7 +654,7 @@ Sensors::parameters_update()
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
warnx(paramerr);
}
@ -682,7 +682,7 @@ 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[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@ -1416,7 +1416,7 @@ Sensors::rc_poll()
/* mode switches */
manual.mode_switch = get_rc_switch_position(MODE);
manual.assisted_switch = get_rc_switch_position(ASSISTED);
manual.mission_switch = get_rc_switch_position(MISSION);
manual.loiter_switch = get_rc_switch_position(LOITER);
manual.return_switch = get_rc_switch_position(RETURN);
/* publish manual_control_setpoint topic */

2
src/modules/uORB/topics/manual_control_setpoint.h
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@ -79,7 +79,7 @@ struct manual_control_setpoint_s {
switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */
switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */
switch_pos_t mission_switch; /**< mission 2 position switch (optional): mission, loiter */
switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */
}; /**< manual control inputs */
/**

2
src/modules/uORB/topics/rc_channels.h
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@ -65,7 +65,7 @@ enum RC_CHANNELS_FUNCTION {
MODE = 4,
RETURN = 5,
ASSISTED = 6,
MISSION = 7,
LOITER = 7,
OFFBOARD_MODE = 8,
FLAPS = 9,
AUX_1 = 10,