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Porting to new param interface, updated mixers

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This commit is contained in:
Lorenz Meier
2012-08-20 23:52:13 +02:00
parent df07ff8056
commit d1261e227c
9 changed files with 175 additions and 23 deletions
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apps/sensors/sensors.c
+59 -1
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@@ -60,6 +60,8 @@
#include <arch/board/up_adc.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
@@ -124,9 +126,65 @@ extern unsigned ppm_decoded_channels;
extern uint64_t ppm_last_valid_decode;
#endif
/* file handle that will be used for subscribing */
/* file handle that will be used for publishing sensor data */
static int sensor_pub;
PARAM_DEFINE_FLOAT(sensor_gyro_xoffset, 0.0f);
PARAM_DEFINE_FLOAT(sensor_gyro_yoffset, 0.0f);
PARAM_DEFINE_FLOAT(sensor_gyro_zoffset, 0.0f);
PARAM_DEFINE_FLOAT(sensor_mag_xoff, 0.0f);
PARAM_DEFINE_FLOAT(sensor_mag_yoff, 0.0f);
PARAM_DEFINE_FLOAT(sensor_mag_zoff, 0.0f);
PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA
PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
/**
* Sensor readout and publishing.
*