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added an rc switch for arming and disarming with the option to use it as a button

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Matthias Grob
2016-11-28 11:29:58 +01:00
committed by Lorenz Meier
parent 537f72073d
commit aa984edd90
8 changed files with 108 additions and 5 deletions
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src/modules/sensors/parameters.cpp
+9
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@@ -90,6 +90,7 @@ int initialize_parameter_handles(ParameterHandles &parameter_handles)
parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW");
parameter_handles.rc_map_arm_sw = param_find("RC_MAP_ARM_SW");
parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
parameter_handles.rc_map_gear_sw = param_find("RC_MAP_GEAR_SW");
@@ -120,6 +121,7 @@ int initialize_parameter_handles(ParameterHandles &parameter_handles)
parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH");
parameter_handles.rc_armswitch_th = param_find("RC_ARMSWITCH_TH");
parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
parameter_handles.rc_gear_th = param_find("RC_GEAR_TH");
@@ -313,6 +315,10 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_arm_sw, &(parameters.rc_map_arm_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
if (param_get(parameter_handles.rc_map_trans_sw, &(parameters.rc_map_trans_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
@@ -365,6 +371,9 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
param_get(parameter_handles.rc_killswitch_th, &(parameters.rc_killswitch_th));
parameters.rc_killswitch_inv = (parameters.rc_killswitch_th < 0);
parameters.rc_killswitch_th = fabs(parameters.rc_killswitch_th);
param_get(parameter_handles.rc_armswitch_th, &(parameters.rc_armswitch_th));
parameters.rc_armswitch_inv = (parameters.rc_armswitch_th < 0);
parameters.rc_armswitch_th = fabs(parameters.rc_armswitch_th);
param_get(parameter_handles.rc_trans_th, &(parameters.rc_trans_th));
parameters.rc_trans_inv = (parameters.rc_trans_th < 0);
parameters.rc_trans_th = fabs(parameters.rc_trans_th);