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Merge remote-tracking branch 'upstream/master' into no_beep

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Friedemann Ludwig 2014-11-11 11:49:51 +01:00
commit 66bfd9a0bf
1 changed files with 24 additions and 23 deletions
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47
src/drivers/px4io/px4io.cpp
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@ -1245,41 +1245,42 @@ PX4IO::io_set_rc_config()
* for compatibility reasons with existing
* autopilots / GCS'.
*/
/* ROLL */
param_get(param_find("RC_MAP_ROLL"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 0;
}
/* subtract one from 1-based index - this might be
* a negative number now
*/
ichan -= 1;
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan] = 0;
/* PITCH */
param_get(param_find("RC_MAP_PITCH"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 1;
}
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan] = 1;
/* YAW */
param_get(param_find("RC_MAP_YAW"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 2;
}
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan] = 2;
/* THROTTLE */
param_get(param_find("RC_MAP_THROTTLE"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 3;
}
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan] = 3;
/* FLAPS */
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
input_map[ichan - 1] = 4;
}
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan] = 4;
/* MAIN MODE SWITCH */
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) {
if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
/*