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Moved the channel mappings and attributes to the config section

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Simon Wilks
2013-01-06 04:21:04 +01:00
parent 0a89ab7075
commit 7842caf3b2
6 changed files with 78 additions and 64 deletions
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apps/px4io/mixer.cpp
+7 -5
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@@ -99,7 +99,7 @@ mixer_tick(void)
/* too many frames without FMU input, time to go to failsafe */
system_state.mixer_manual_override = true;
system_state.mixer_fmu_available = false;
//lib_lowprintf("RX timeout\n");
lib_lowprintf("RX timeout\n");
}
/*
@@ -121,10 +121,10 @@ mixer_tick(void)
sched_lock();
/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL]];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH]];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW]];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE]];
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
/* get the remaining channels, no remapping needed */
for (unsigned i = 4; i < system_state.rc_channels; i++)
@@ -133,6 +133,8 @@ mixer_tick(void)
/* scale the control inputs */
rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000;
//lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
// system_state.rc_min[THROTTLE], system_state.rc_trim[THROTTLE], system_state.rc_max[THROTTLE], rc_channel_data[THROTTLE]);
control_values = &rc_channel_data[0];
sched_unlock();