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px4-firmware
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Added NONE = not mapped state for mission and return switches

This commit is contained in:
Anton Babushkin 2013-12-30 14:04:24 +04:00
parent fa20fae6fb
commit 33385a783c
3 changed files with 18 additions and 16 deletions
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8
src/modules/commander/commander.cpp
View File

@ -1392,7 +1392,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
current_status->mode_switch = MODE_SWITCH_ASSISTED;
}
/* land switch */
/* return switch */
if (!isfinite(sp_man->return_switch)) {
current_status->return_switch = RETURN_SWITCH_NONE;
@ -1400,7 +1400,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
current_status->return_switch = RETURN_SWITCH_RETURN;
} else {
current_status->return_switch = RETURN_SWITCH_NONE;
current_status->return_switch = RETURN_SWITCH_NORMAL;
}
/* assisted switch */
@ -1416,10 +1416,10 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
/* mission switch */
if (!isfinite(sp_man->mission_switch)) {
current_status->mission_switch = MISSION_SWITCH_MISSION;
current_status->mission_switch = MISSION_SWITCH_NONE;
} else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) {
current_status->mission_switch = MISSION_SWITCH_NONE;
current_status->mission_switch = MISSION_SWITCH_LOITER;
} else {
current_status->mission_switch = MISSION_SWITCH_MISSION;

24
src/modules/sensors/sensors.cpp
View File

@ -1372,18 +1372,6 @@ Sensors::rc_poll()
manual_control.yaw *= _parameters.rc_scale_yaw;
}
/* mode switch input */
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
/* land switch input */
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
/* assisted switch input */
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
/* mission switch input */
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
/* flaps */
if (_rc.function[FLAPS] >= 0) {
@ -1394,14 +1382,26 @@ Sensors::rc_poll()
}
}
/* mode switch input */
if (_rc.function[MODE] >= 0) {
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
}
/* assisted switch input */
if (_rc.function[ASSISTED] >= 0) {
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
}
/* mission switch input */
if (_rc.function[MISSION] >= 0) {
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* return switch input */
if (_rc.function[RETURN] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
// if (_rc.function[OFFBOARD_MODE] >= 0) {
// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
// }

2
src/modules/uORB/topics/vehicle_status.h
View File

@ -99,11 +99,13 @@ typedef enum {
typedef enum {
RETURN_SWITCH_NONE = 0,
RETURN_SWITCH_NORMAL,
RETURN_SWITCH_RETURN
} return_switch_pos_t;
typedef enum {
MISSION_SWITCH_NONE = 0,
MISSION_SWITCH_LOITER,
MISSION_SWITCH_MISSION
} mission_switch_pos_t;