- these are old RC switch configuration parameters that haven't been used for
years, but were hardcoded into old versions of QGC
- RC_MAP_RATT_SW, RC_MAP_POSCTL_SW, RC_MAP_ACRO_SW, RC_MAP_STAB_SW, RC_MAP_MAN_SW deleted
-
Channel values stay over one unit test but some tests assumed they are
reset each time. Reset the channel after these mode button tests.
Parameters survive between unit tests presumably as long as
the bianry runs. Reset them if a test requires that.
The entire logic did not work for the case when the throttle channel is
reversed because then QGC sets trim = max for that channel and
the result is only half the throttle range.
This is fully backwards compatible: If the throttle trim is set to
the minimum then it's the legacy calibration and gets
interpreted such that there is no trim and behavior remains as before.
If the trim is set to a different value than the minimum then it gets
used like with all other channels which was unsupported before.
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
rescaled from 0..4095 to 1000..2000 and the channel bits added to
separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
between POSCTL and ALTCTL.
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Adds support for using the MAVLink command MAV_CMD_DO_SET_ACTUATOR to
update the actuator values on control group 3 aux{1, 2, 3}. A simple
deconfliction with rc_update is implemented: when a MAVLink command is
sent, RC is disabled for that channel until a major stick movement is
detected.
Beat Küng