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Got rid of a bunch of magic numbers, manual controls can now be set up fine-grained

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Lorenz Meier
2012-09-11 23:54:26 +02:00
parent a74a455ab5
commit b573804456
4 changed files with 43 additions and 13 deletions
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apps/sensors/sensors.cpp
+31 -6
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@@ -193,6 +193,10 @@ private:
int rc_map_throttle;
int rc_map_mode_sw;
int rc_scale_roll;
int rc_scale_pitch;
int rc_scale_yaw;
float battery_voltage_scaling;
} _parameters; /**< local copies of interesting parameters */
@@ -214,6 +218,10 @@ private:
param_t rc_map_throttle;
param_t rc_map_mode_sw;
param_t rc_scale_roll;
param_t rc_scale_pitch;
param_t rc_scale_yaw;
param_t battery_voltage_scaling;
} _parameter_handles; /**< handles for interesting parameters */
@@ -384,6 +392,10 @@ Sensors::Sensors() :
_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
@@ -492,6 +504,16 @@ Sensors::parameters_update()
warnx("Failed getting mode sw chan index");
}
if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
warnx("Failed getting rc scaling for roll");
}
if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
warnx("Failed getting rc scaling for pitch");
}
if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
warnx("Failed getting rc scaling for yaw");
}
/* gyro offsets */
param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1]));
@@ -928,18 +950,21 @@ Sensors::ppm_poll()
_rc.chan_count = ppm_decoded_channels;
_rc.timestamp = ppm_last_valid_decode;
/* roll input */
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled;
/* roll input - rolling right is stick-wise and rotation-wise positive */
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled * _parameters.rc_scale_roll;
if (manual_control.roll < -1.0f) manual_control.roll = -1.0f;
if (manual_control.roll > 1.0f) manual_control.roll = 1.0f;
/* pitch input */
manual_control.pitch = _rc.chan[_rc.function[PITCH]].scaled;
/*
* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
* so reverse sign.
*/
manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled * _parameters.rc_scale_pitch;
if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f;
if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f;
/* yaw input */
manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled;
/* yaw input - stick right is positive and positive rotation */
manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw;
if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f;
if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;