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Merge branch 'master' into acro2

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This commit is contained in:
Anton Babushkin
2014-05-20 00:03:00 +02:00
parent b165e6ba20 b250e28abf
commit b12928548c
590 changed files with 32230 additions and 16046 deletions
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src/modules/sensors/sensor_params.c
+134 -52
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@@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
#elif CONFIG_ARCH_BOARD_AEROCORE
/**
* Scaling factor for battery voltage sensor on AeroCore.
*
* For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
*
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
#else
/**
* Scaling factor for battery voltage sensor on FMU v1.
@@ -535,6 +544,20 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
*/
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
/**
* Failsafe channel mapping.
*
* The RC mapping index indicates which channel is used for failsafe
* If 0, whichever channel is mapped to throttle is used
* otherwise the value indicates the specific rc channel to use
*
* @min 0
* @max 18
*
*
*/
PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0); //Default to throttle function
/**
* Throttle control channel mapping.
*
@@ -585,25 +608,31 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
/**
* Assist switch channel mapping.
* Posctl switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
/**
* Mission switch channel mapping.
* Loiter switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
/**
* Acro switch channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
/**
* Flaps channel mapping.
@@ -648,54 +677,107 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
/**
* Roll scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
/**
* Pitch scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
/**
* Yaw scaling factor
*
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
/**
* Failsafe channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_CH, 0);
/**
* Failsafe channel mode.
*
* 0 = too low means signal loss,
* 1 = too high means signal loss
*
* @min 0
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_MODE, 0);
/**
* Failsafe channel PWM threshold.
*
* @min 0
* @max 1
* @min 800
* @max 2200
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FS_THR, 800);
PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
/**
* Threshold for selecting assist mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
/**
* Threshold for selecting auto mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
/**
* Threshold for selecting posctl mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
/**
* Threshold for selecting return to launch mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
/**
* Threshold for selecting loiter mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
/**
* Threshold for selecting acro mode
*
* min:-1
* max:+1
*
* 0-1 indicate where in the full channel range the threshold sits
* 0 : min
* 1 : max
* sign indicates polarity of comparison
* positive : true when channel>th
* negative : true when channel<th
*
*/
PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);