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Switch assignment: added manual and stabilized switch for a default stabilized switch scheme, let FW go into Acro

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This commit is contained in:
Andreas Antener
2017-02-18 08:03:19 +01:00
committed by Andreas Daniel Antener
parent 21f5219bbc
commit a5f3f65c2b
8 changed files with 199 additions and 24 deletions
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src/modules/sensors/rc_update.cpp
+6
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@@ -103,6 +103,8 @@ void RCUpdate::update_rc_functions()
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ARMSWITCH] = _parameters.rc_map_arm_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TRANSITION] = _parameters.rc_map_trans_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_GEAR] = _parameters.rc_map_gear_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _parameters.rc_map_stab_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _parameters.rc_map_man_sw - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
@@ -434,6 +436,10 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
_parameters.rc_trans_th, _parameters.rc_trans_inv);
manual.gear_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_GEAR,
_parameters.rc_gear_th, _parameters.rc_gear_inv);
manual.stab_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_STAB,
_parameters.rc_stab_th, _parameters.rc_stab_inv);
manual.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN,
_parameters.rc_man_th, _parameters.rc_man_inv);
/* publish manual_control_setpoint topic */
orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_control_pub, &manual, &instance,