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Support 18 channels correctly on FMU

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Lorenz Meier
2013-12-22 21:09:47 +01:00
parent 6c990d0a6e
commit 9abf31c2ba
5 changed files with 27 additions and 12 deletions
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src/modules/uORB/topics/rc_channels.h
+4 -7
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@@ -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*/