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sensors split rc_update into new standalone module
This commit is contained in:
Daniel Agar
@@ -40,29 +40,13 @@
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*
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* @author Beat Kueng <beat-kueng@gmx.net>
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*/
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#include <px4_platform_common/px4_config.h>
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#include <drivers/drv_rc_input.h>
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#include <parameters/param.h>
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#include <mathlib/mathlib.h>
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#include <uORB/topics/rc_parameter_map.h>
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#include <uORB/topics/input_rc.h>
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#include <lib/parameters/param.h>
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namespace sensors
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{
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static const unsigned RC_MAX_CHAN_COUNT =
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input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
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struct Parameters {
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float min[RC_MAX_CHAN_COUNT];
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float trim[RC_MAX_CHAN_COUNT];
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float max[RC_MAX_CHAN_COUNT];
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float rev[RC_MAX_CHAN_COUNT];
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float dz[RC_MAX_CHAN_COUNT];
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float scaling_factor[RC_MAX_CHAN_COUNT];
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float diff_pres_offset_pa;
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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float diff_pres_analog_scale;
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@@ -72,72 +56,6 @@ struct Parameters {
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float board_offset[3];
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int32_t rc_map_roll;
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int32_t rc_map_pitch;
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int32_t rc_map_yaw;
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int32_t rc_map_throttle;
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int32_t rc_map_failsafe;
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int32_t rc_map_mode_sw;
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int32_t rc_map_return_sw;
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int32_t rc_map_rattitude_sw;
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int32_t rc_map_posctl_sw;
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int32_t rc_map_loiter_sw;
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int32_t rc_map_acro_sw;
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int32_t rc_map_offboard_sw;
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int32_t rc_map_kill_sw;
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int32_t rc_map_arm_sw;
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int32_t rc_map_trans_sw;
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int32_t rc_map_gear_sw;
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int32_t rc_map_stab_sw;
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int32_t rc_map_man_sw;
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int32_t rc_map_flaps;
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int32_t rc_map_aux1;
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int32_t rc_map_aux2;
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int32_t rc_map_aux3;
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int32_t rc_map_aux4;
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int32_t rc_map_aux5;
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int32_t rc_map_aux6;
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int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
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int32_t rc_map_flightmode;
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int32_t rc_fails_thr;
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float rc_assist_th;
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float rc_auto_th;
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float rc_rattitude_th;
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float rc_posctl_th;
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float rc_return_th;
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float rc_loiter_th;
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float rc_acro_th;
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float rc_offboard_th;
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float rc_killswitch_th;
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float rc_armswitch_th;
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float rc_trans_th;
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float rc_gear_th;
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float rc_stab_th;
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float rc_man_th;
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bool rc_assist_inv;
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bool rc_auto_inv;
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bool rc_rattitude_inv;
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bool rc_posctl_inv;
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bool rc_return_inv;
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bool rc_loiter_inv;
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bool rc_acro_inv;
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bool rc_offboard_inv;
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bool rc_killswitch_inv;
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bool rc_armswitch_inv;
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bool rc_trans_inv;
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bool rc_gear_inv;
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bool rc_stab_inv;
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bool rc_man_inv;
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float rc_flt_smp_rate;
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float rc_flt_cutoff;
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float baro_qnh;
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int32_t air_cmodel;
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@@ -146,72 +64,11 @@ struct Parameters {
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};
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struct ParameterHandles {
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param_t min[RC_MAX_CHAN_COUNT];
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param_t trim[RC_MAX_CHAN_COUNT];
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param_t max[RC_MAX_CHAN_COUNT];
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param_t rev[RC_MAX_CHAN_COUNT];
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param_t dz[RC_MAX_CHAN_COUNT];
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param_t diff_pres_offset_pa;
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#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
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param_t diff_pres_analog_scale;
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#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
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param_t rc_map_roll;
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param_t rc_map_pitch;
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param_t rc_map_yaw;
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param_t rc_map_throttle;
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param_t rc_map_failsafe;
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param_t rc_map_mode_sw;
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param_t rc_map_return_sw;
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param_t rc_map_rattitude_sw;
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param_t rc_map_posctl_sw;
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param_t rc_map_loiter_sw;
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param_t rc_map_acro_sw;
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param_t rc_map_offboard_sw;
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param_t rc_map_kill_sw;
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param_t rc_map_arm_sw;
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param_t rc_map_trans_sw;
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param_t rc_map_gear_sw;
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param_t rc_map_flaps;
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param_t rc_map_stab_sw;
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param_t rc_map_man_sw;
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param_t rc_map_aux1;
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param_t rc_map_aux2;
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param_t rc_map_aux3;
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param_t rc_map_aux4;
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param_t rc_map_aux5;
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param_t rc_map_aux6;
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param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
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param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the parameters which are bound
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to a RC channel, equivalent float values in the
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_parameters struct are not existing
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because these parameters are never read. */
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param_t rc_map_flightmode;
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param_t rc_fails_thr;
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param_t rc_assist_th;
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param_t rc_auto_th;
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param_t rc_rattitude_th;
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param_t rc_posctl_th;
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param_t rc_return_th;
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param_t rc_loiter_th;
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param_t rc_acro_th;
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param_t rc_offboard_th;
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param_t rc_killswitch_th;
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param_t rc_armswitch_th;
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param_t rc_trans_th;
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param_t rc_gear_th;
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param_t rc_stab_th;
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param_t rc_man_th;
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param_t rc_flt_smp_rate;
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param_t rc_flt_cutoff;
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param_t board_rotation;
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param_t board_offset[3];
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@@ -234,6 +91,6 @@ void initialize_parameter_handles(ParameterHandles ¶meter_handles);
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* Read out the parameters using the handles into the parameters struct.
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* @return 0 on success, <0 on error
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*/
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int update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters);
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void update_parameters(const ParameterHandles ¶meter_handles, Parameters ¶meters);
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} /* namespace sensors */
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