mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 14:53:34 +08:00
Merge remote-tracking branch 'upstream/control_groups' into fw_autoland_att_tecs_navigator_termination_controlgroups
Conflicts: src/systemcmds/tests/module.mk src/systemcmds/tests/tests.h
This commit is contained in:
Thomas Gubler
@@ -1624,8 +1624,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
|
||||
/* switch to failsafe mode */
|
||||
bool manual_control_old = control_mode->flag_control_manual_enabled;
|
||||
|
||||
if (!status->condition_landed) {
|
||||
/* in air: try to hold position */
|
||||
if (!status->condition_landed && status->condition_local_position_valid) {
|
||||
/* in air: try to hold position if possible */
|
||||
res = navigation_state_transition(status, NAVIGATION_STATE_VECTOR, control_mode);
|
||||
|
||||
} else {
|
||||
|
||||
@@ -66,7 +66,7 @@ controls_init(void)
|
||||
sbus_init("/dev/ttyS2");
|
||||
|
||||
/* default to a 1:1 input map, all enabled */
|
||||
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
|
||||
for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
|
||||
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
|
||||
|
||||
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
|
||||
@@ -94,6 +94,9 @@ controls_tick() {
|
||||
* other. Don't do that.
|
||||
*/
|
||||
|
||||
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
|
||||
uint16_t rssi = 0;
|
||||
|
||||
perf_begin(c_gather_dsm);
|
||||
uint16_t temp_count = r_raw_rc_count;
|
||||
bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
|
||||
@@ -104,14 +107,15 @@ controls_tick() {
|
||||
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11;
|
||||
else
|
||||
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
|
||||
|
||||
rssi = 1000;
|
||||
}
|
||||
perf_end(c_gather_dsm);
|
||||
|
||||
perf_begin(c_gather_sbus);
|
||||
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
|
||||
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS);
|
||||
if (sbus_updated) {
|
||||
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
|
||||
r_raw_rc_count = 8;
|
||||
}
|
||||
perf_end(c_gather_sbus);
|
||||
|
||||
@@ -122,10 +126,19 @@ controls_tick() {
|
||||
*/
|
||||
perf_begin(c_gather_ppm);
|
||||
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
|
||||
if (ppm_updated)
|
||||
if (ppm_updated) {
|
||||
|
||||
/* XXX sample RSSI properly here */
|
||||
rssi = 1000;
|
||||
|
||||
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
|
||||
}
|
||||
perf_end(c_gather_ppm);
|
||||
|
||||
/* limit number of channels to allowable data size */
|
||||
if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
|
||||
r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
|
||||
|
||||
/*
|
||||
* In some cases we may have received a frame, but input has still
|
||||
* been lost.
|
||||
@@ -197,14 +210,16 @@ controls_tick() {
|
||||
|
||||
/* and update the scaled/mapped version */
|
||||
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
|
||||
ASSERT(mapped < PX4IO_CONTROL_CHANNELS);
|
||||
if (mapped < PX4IO_CONTROL_CHANNELS) {
|
||||
|
||||
/* invert channel if pitch - pulling the lever down means pitching up by convention */
|
||||
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
|
||||
scaled = -scaled;
|
||||
/* invert channel if pitch - pulling the lever down means pitching up by convention */
|
||||
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
|
||||
scaled = -scaled;
|
||||
|
||||
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
|
||||
assigned_channels |= (1 << mapped);
|
||||
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
|
||||
assigned_channels |= (1 << mapped);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -221,7 +236,7 @@ controls_tick() {
|
||||
* This might happen if a protocol-based receiver returns an update
|
||||
* that contains no channels that we have mapped.
|
||||
*/
|
||||
if (assigned_channels == 0) {
|
||||
if (assigned_channels == 0 || rssi == 0) {
|
||||
rc_input_lost = true;
|
||||
} else {
|
||||
/* set RC OK flag */
|
||||
@@ -321,8 +336,8 @@ ppm_input(uint16_t *values, uint16_t *num_values)
|
||||
|
||||
/* PPM data exists, copy it */
|
||||
*num_values = ppm_decoded_channels;
|
||||
if (*num_values > PX4IO_CONTROL_CHANNELS)
|
||||
*num_values = PX4IO_CONTROL_CHANNELS;
|
||||
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
|
||||
*num_values = PX4IO_RC_INPUT_CHANNELS;
|
||||
|
||||
for (unsigned i = 0; i < *num_values; i++)
|
||||
values[i] = ppm_buffer[i];
|
||||
|
||||
@@ -128,6 +128,7 @@
|
||||
#define PX4IO_P_STATUS_VSERVO 6 /* [2] servo rail voltage in mV */
|
||||
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
|
||||
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
|
||||
#define PX4IO_P_STATUS_NRSSI 9 /* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
|
||||
|
||||
/* array of post-mix actuator outputs, -10000..10000 */
|
||||
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
|
||||
|
||||
@@ -54,7 +54,7 @@
|
||||
#define PX4IO_SERVO_COUNT 8
|
||||
#define PX4IO_CONTROL_CHANNELS 8
|
||||
#define PX4IO_CONTROL_GROUPS 2
|
||||
#define PX4IO_RC_INPUT_CHANNELS 8 // XXX this should be 18 channels
|
||||
#define PX4IO_RC_INPUT_CHANNELS 18
|
||||
#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */
|
||||
|
||||
/*
|
||||
@@ -213,7 +213,7 @@ extern int dsm_init(const char *device);
|
||||
extern bool dsm_input(uint16_t *values, uint16_t *num_values);
|
||||
extern void dsm_bind(uint16_t cmd, int pulses);
|
||||
extern int sbus_init(const char *device);
|
||||
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels);
|
||||
extern bool sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
|
||||
|
||||
/** global debug level for isr_debug() */
|
||||
extern volatile uint8_t debug_level;
|
||||
|
||||
@@ -54,6 +54,27 @@
|
||||
|
||||
#define SBUS_FRAME_SIZE 25
|
||||
#define SBUS_INPUT_CHANNELS 16
|
||||
#define SBUS_FLAGS_BYTE 23
|
||||
#define SBUS_FAILSAFE_BIT 3
|
||||
#define SBUS_FRAMELOST_BIT 2
|
||||
|
||||
/*
|
||||
Measured values with Futaba FX-30/R6108SB:
|
||||
-+100% on TX: PCM 1.100/1.520/1.950ms -> SBus raw values: 350/1024/1700 (100% ATV)
|
||||
-+140% on TX: PCM 0.930/1.520/2.112ms -> SBus raw values: 78/1024/1964 (140% ATV)
|
||||
-+152% on TX: PCM 0.884/1.520/2.160ms -> SBus raw values: 1/1024/2047 (140% ATV plus dirty tricks)
|
||||
*/
|
||||
|
||||
/* define range mapping here, -+100% -> 1000..2000 */
|
||||
#define SBUS_RANGE_MIN 200.0f
|
||||
#define SBUS_RANGE_MAX 1800.0f
|
||||
|
||||
#define SBUS_TARGET_MIN 1000.0f
|
||||
#define SBUS_TARGET_MAX 2000.0f
|
||||
|
||||
/* pre-calculate the floating point stuff as far as possible at compile time */
|
||||
#define SBUS_SCALE_FACTOR ((SBUS_TARGET_MAX - SBUS_TARGET_MIN) / (SBUS_RANGE_MAX - SBUS_RANGE_MIN))
|
||||
#define SBUS_SCALE_OFFSET (int)(SBUS_TARGET_MIN - (SBUS_SCALE_FACTOR * SBUS_RANGE_MIN + 0.5f))
|
||||
|
||||
static int sbus_fd = -1;
|
||||
|
||||
@@ -66,7 +87,7 @@ static unsigned partial_frame_count;
|
||||
|
||||
unsigned sbus_frame_drops;
|
||||
|
||||
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels);
|
||||
static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
|
||||
|
||||
int
|
||||
sbus_init(const char *device)
|
||||
@@ -97,7 +118,7 @@ sbus_init(const char *device)
|
||||
}
|
||||
|
||||
bool
|
||||
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
|
||||
sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels)
|
||||
{
|
||||
ssize_t ret;
|
||||
hrt_abstime now;
|
||||
@@ -154,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels)
|
||||
* decode it.
|
||||
*/
|
||||
partial_frame_count = 0;
|
||||
return sbus_decode(now, values, num_values, max_channels);
|
||||
return sbus_decode(now, values, num_values, rssi, max_channels);
|
||||
}
|
||||
|
||||
/*
|
||||
@@ -194,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
|
||||
};
|
||||
|
||||
static bool
|
||||
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values)
|
||||
sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values)
|
||||
{
|
||||
/* check frame boundary markers to avoid out-of-sync cases */
|
||||
if ((frame[0] != 0x0f) || (frame[24] != 0x00)) {
|
||||
@@ -202,15 +223,6 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
|
||||
return false;
|
||||
}
|
||||
|
||||
/* if the failsafe or connection lost bit is set, we consider the frame invalid */
|
||||
if ((frame[23] & (1 << 2)) && /* signal lost */
|
||||
(frame[23] & (1 << 3))) { /* failsafe */
|
||||
|
||||
/* actively announce signal loss */
|
||||
*values = 0;
|
||||
return false;
|
||||
}
|
||||
|
||||
/* we have received something we think is a frame */
|
||||
last_frame_time = frame_time;
|
||||
|
||||
@@ -234,8 +246,9 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
|
||||
}
|
||||
}
|
||||
|
||||
/* convert 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
|
||||
values[channel] = (value / 2) + 998;
|
||||
|
||||
/* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */
|
||||
values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR +.5f) + SBUS_SCALE_OFFSET;
|
||||
}
|
||||
|
||||
/* decode switch channels if data fields are wide enough */
|
||||
@@ -243,13 +256,31 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
|
||||
chancount = 18;
|
||||
|
||||
/* channel 17 (index 16) */
|
||||
values[16] = (frame[23] & (1 << 0)) * 1000 + 998;
|
||||
values[16] = (frame[SBUS_FLAGS_BYTE] & (1 << 0)) * 1000 + 998;
|
||||
/* channel 18 (index 17) */
|
||||
values[17] = (frame[23] & (1 << 1)) * 1000 + 998;
|
||||
values[17] = (frame[SBUS_FLAGS_BYTE] & (1 << 1)) * 1000 + 998;
|
||||
}
|
||||
|
||||
/* note the number of channels decoded */
|
||||
*num_values = chancount;
|
||||
|
||||
/* decode and handle failsafe and frame-lost flags */
|
||||
if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */
|
||||
/* report that we failed to read anything valid off the receiver */
|
||||
*rssi = 0;
|
||||
return false;
|
||||
}
|
||||
else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
|
||||
/* set a special warning flag or try to calculate some kind of RSSI information - to be implemented
|
||||
*
|
||||
* Attention! This flag indicates a skipped frame only, not a total link loss! Handling this
|
||||
* condition as fail-safe greatly reduces the reliability and range of the radio link,
|
||||
* e.g. by prematurely issueing return-to-launch!!! */
|
||||
|
||||
*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
|
||||
}
|
||||
|
||||
*rssi = 1000;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
@@ -190,11 +190,30 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
|
||||
|
||||
PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
|
||||
PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
|
||||
PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
|
||||
PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
|
||||
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
|
||||
#endif
|
||||
PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
|
||||
|
||||
PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
||||
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
|
||||
#else
|
||||
@@ -226,3 +245,7 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw
|
||||
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
|
||||
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
|
||||
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
|
||||
|
||||
PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */
|
||||
PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */
|
||||
PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */
|
||||
|
||||
@@ -165,7 +165,7 @@ public:
|
||||
int start();
|
||||
|
||||
private:
|
||||
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
|
||||
static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
|
||||
|
||||
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
|
||||
|
||||
@@ -260,6 +260,10 @@ private:
|
||||
float rc_scale_yaw;
|
||||
float rc_scale_flaps;
|
||||
|
||||
int rc_fs_ch;
|
||||
int rc_fs_mode;
|
||||
float rc_fs_thr;
|
||||
|
||||
float battery_voltage_scaling;
|
||||
|
||||
} _parameters; /**< local copies of interesting parameters */
|
||||
@@ -305,6 +309,10 @@ private:
|
||||
param_t rc_scale_yaw;
|
||||
param_t rc_scale_flaps;
|
||||
|
||||
param_t rc_fs_ch;
|
||||
param_t rc_fs_mode;
|
||||
param_t rc_fs_thr;
|
||||
|
||||
param_t battery_voltage_scaling;
|
||||
|
||||
param_t board_rotation;
|
||||
@@ -517,6 +525,11 @@ Sensors::Sensors() :
|
||||
_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
|
||||
_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
|
||||
|
||||
/* RC failsafe */
|
||||
_parameter_handles.rc_fs_ch = param_find("RC_FS_CH");
|
||||
_parameter_handles.rc_fs_mode = param_find("RC_FS_MODE");
|
||||
_parameter_handles.rc_fs_thr = param_find("RC_FS_THR");
|
||||
|
||||
/* gyro offsets */
|
||||
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
|
||||
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
|
||||
@@ -589,7 +602,7 @@ Sensors::parameters_update()
|
||||
float tmpRevFactor = 0.0f;
|
||||
|
||||
/* rc values */
|
||||
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
|
||||
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]));
|
||||
@@ -668,6 +681,9 @@ Sensors::parameters_update()
|
||||
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
|
||||
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
|
||||
param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
|
||||
param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch));
|
||||
param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode));
|
||||
param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
|
||||
|
||||
/* update RC function mappings */
|
||||
_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
|
||||
@@ -1256,6 +1272,18 @@ Sensors::rc_poll()
|
||||
if (rc_input.channel_count < 4)
|
||||
return;
|
||||
|
||||
/* failsafe check */
|
||||
if (_parameters.rc_fs_ch != 0) {
|
||||
if (_parameters.rc_fs_mode == 0) {
|
||||
if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr)
|
||||
return;
|
||||
|
||||
} else if (_parameters.rc_fs_mode == 1) {
|
||||
if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
unsigned channel_limit = rc_input.channel_count;
|
||||
|
||||
if (channel_limit > _rc_max_chan_count)
|
||||
|
||||
@@ -295,10 +295,11 @@ perf_print_counter(perf_counter_t handle)
|
||||
case PC_ELAPSED: {
|
||||
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
|
||||
|
||||
printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
|
||||
printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
|
||||
handle->name,
|
||||
pce->event_count,
|
||||
pce->time_total,
|
||||
pce->time_total / pce->event_count,
|
||||
pce->time_least,
|
||||
pce->time_most);
|
||||
break;
|
||||
|
||||
@@ -45,7 +45,7 @@
|
||||
#include <systemlib/rc_check.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <mavlink/mavlink_log.h>
|
||||
#include <uORB/topics/rc_channels.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
|
||||
int rc_calibration_check(int mavlink_fd) {
|
||||
|
||||
@@ -66,7 +66,7 @@ int rc_calibration_check(int mavlink_fd) {
|
||||
|
||||
int channel_fail_count = 0;
|
||||
|
||||
for (int i = 0; i < RC_CHANNELS_MAX; i++) {
|
||||
for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
|
||||
/* should the channel be enabled? */
|
||||
uint8_t count = 0;
|
||||
|
||||
|
||||
@@ -1,9 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
|
||||
* @author Ivan Ovinnikov <oivan@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Copyright (c) 2012, 2013 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
|
||||
@@ -47,13 +44,13 @@
|
||||
|
||||
/**
|
||||
* The number of RC channel inputs supported.
|
||||
* Current (Q1/2013) radios support up to 18 channels,
|
||||
* Current (Q4/2013) radios support up to 18 channels,
|
||||
* leaving at a sane value of 15.
|
||||
* This number can be greater then number of RC channels,
|
||||
* because single RC channel can be mapped to multiple
|
||||
* functions, e.g. for various mode switches.
|
||||
*/
|
||||
#define RC_CHANNELS_MAX 15
|
||||
#define RC_CHANNELS_MAPPED_MAX 15
|
||||
|
||||
/**
|
||||
* This defines the mapping of the RC functions.
|
||||
@@ -91,7 +88,7 @@ struct rc_channels_s {
|
||||
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
|
||||
struct {
|
||||
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
|
||||
} chan[RC_CHANNELS_MAX];
|
||||
} chan[RC_CHANNELS_MAPPED_MAX];
|
||||
uint8_t chan_count; /**< number of valid channels */
|
||||
|
||||
/*String array to store the names of the functions*/
|
||||
|
||||
Reference in New Issue
Block a user