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commander: allow external modes to be assigned to RC

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Stores a hash of the mode name so that the same mode is always assigned
to the same index independent from registration order.
This commit is contained in:
Beat Küng
2023-11-15 13:18:58 +01:00
parent 22acb08406
commit fb7e973dfd
6 changed files with 243 additions and 148 deletions
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src/modules/commander/commander_params.c
-144
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@@ -345,150 +345,6 @@ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
*/
PARAM_DEFINE_FLOAT(COM_OBC_LOSS_T, 5.0f);
/**
* First flightmode slot (1000-1160)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 12 Follow Me
* @value 13 Precision Land
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE1, -1);
/**
* Second flightmode slot (1160-1320)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 12 Follow Me
* @value 13 Precision Land
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE2, -1);
/**
* Third flightmode slot (1320-1480)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 12 Follow Me
* @value 13 Precision Land
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE3, -1);
/**
* Fourth flightmode slot (1480-1640)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 12 Follow Me
* @value 13 Precision Land
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
/**
* Fifth flightmode slot (1640-1800)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 12 Follow Me
* @value 13 Precision Land
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
/**
* Sixth flightmode slot (1800-2000)
*
* If the main switch channel is in this range the
* selected flight mode will be applied.
*
* @value -1 Unassigned
* @value 0 Manual
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 10 Takeoff
* @value 11 Land
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
* @value 8 Stabilized
* @value 12 Follow Me
* @value 13 Precision Land
* @group Commander
*/
PARAM_DEFINE_INT32(COM_FLTMODE6, -1);
/**
* Maximum EKF position innovation test ratio that will allow arming
*