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ACRO mode implemented

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This commit is contained in:
Anton Babushkin
2014-01-31 22:44:05 +01:00
parent d933d523eb
commit 7f4f9a5f5f
9 changed files with 144 additions and 35 deletions
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src/modules/sensors/sensors.cpp
+14
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@@ -246,6 +246,7 @@ private:
int rc_map_return_sw;
int rc_map_assisted_sw;
int rc_map_mission_sw;
int rc_map_acro_sw;
// int rc_map_offboard_ctrl_mode_sw;
@@ -296,6 +297,7 @@ private:
param_t rc_map_return_sw;
param_t rc_map_assisted_sw;
param_t rc_map_mission_sw;
param_t rc_map_acro_sw;
// param_t rc_map_offboard_ctrl_mode_sw;
@@ -515,6 +517,7 @@ 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_acro_sw = param_find("RC_MAP_ACRO_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@@ -669,6 +672,10 @@ Sensors::parameters_update()
warnx("Failed getting mission sw chan index");
}
if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
warnx("Failed getting acro sw chan index");
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("Failed getting flaps chan index");
}
@@ -700,6 +707,7 @@ Sensors::parameters_update()
_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[ACRO] = _parameters.rc_map_acro_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@@ -1290,6 +1298,7 @@ Sensors::rc_poll()
manual_control.return_switch = NAN;
manual_control.assisted_switch = NAN;
manual_control.mission_switch = NAN;
manual_control.acro_switch = NAN;
// manual_control.auto_offboard_input_switch = NAN;
manual_control.flaps = NAN;
@@ -1428,6 +1437,11 @@ Sensors::rc_poll()
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* acro switch input */
if (_rc.function[ACRO] >= 0) {
manual_control.acro_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ACRO]].scaled);
}
/* return switch input */
if (_rc.function[RETURN] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);