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TickTock-
2014-04-27 13:12:28 -07:00
parent 07c35010aa
commit 6a7b104c2b
4 changed files with 2 additions and 45 deletions
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src/modules/sensors/sensors.cpp
+1 -33
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@@ -255,11 +255,7 @@ private:
int rc_map_mode_sw;
int rc_map_return_sw;
<<<<<<< HEAD
int rc_map_easy_sw;
=======
int rc_map_assisted_sw;
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
int rc_map_loiter_sw;
// int rc_map_offboard_ctrl_mode_sw;
@@ -313,11 +309,7 @@ private:
param_t rc_map_mode_sw;
param_t rc_map_return_sw;
<<<<<<< HEAD
param_t rc_map_easy_sw;
=======
param_t rc_map_assisted_sw;
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
param_t rc_map_loiter_sw;
// param_t rc_map_offboard_ctrl_mode_sw;
@@ -534,11 +526,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */
<<<<<<< HEAD
_parameter_handles.rc_map_easy_sw = param_find("RC_MAP_EASY_SW");
=======
_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
_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");
@@ -679,7 +667,7 @@ Sensors::parameters_update()
}
if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
warnx(paramerr);
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
@@ -690,21 +678,12 @@ Sensors::parameters_update()
warnx("%s", paramerr);
}
<<<<<<< HEAD
if (param_get(_parameter_handles.rc_map_easy_sw, &(_parameters.rc_map_easy_sw)) != OK) {
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
warnx(paramerr);
=======
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
warnx("%s", paramerr);
}
if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
warnx("%s", paramerr);
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
@@ -745,11 +724,7 @@ Sensors::parameters_update()
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
<<<<<<< HEAD
_rc.function[EASY] = _parameters.rc_map_easy_sw - 1;
=======
_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1502,17 +1477,10 @@ Sensors::rc_poll()
manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
/* mode switches */
<<<<<<< HEAD
manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assisted_th, _parameters.rc_assisted_inv);
manual.easy_switch = get_rc_sw2pos_position(EASY, _parameters.rc_easy_th, _parameters.rc_easy_inv);
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
=======
manual.mode_switch = get_rc_switch_position(MODE);
manual.assisted_switch = get_rc_switch_position(ASSISTED);
manual.loiter_switch = get_rc_switch_position(LOITER);
manual.return_switch = get_rc_switch_position(RETURN);
>>>>>>> ad77ba26427aa9a2d8b8241fc95271667a1c0863
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {