forked from Archive/PX4-Autopilot
Working on override channel mapping, allowed trim cal only with RC on
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1d4feb6905
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65c8028629
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@ -277,6 +277,11 @@ void tune_error(void) {
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void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
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void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
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{
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{
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if (current_status.offboard_control_signal_lost) {
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mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
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return;
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}
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int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
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int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
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struct manual_control_setpoint_s sp;
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struct manual_control_setpoint_s sp;
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orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
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orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
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@ -72,6 +72,7 @@ extern "C" {
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#define PITCH 1
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#define PITCH 1
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#define YAW 2
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#define YAW 2
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#define THROTTLE 3
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#define THROTTLE 3
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#define OVERRIDE 4
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/* current servo arm/disarm state */
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/* current servo arm/disarm state */
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bool mixer_servos_armed = false;
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bool mixer_servos_armed = false;
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@ -125,6 +126,7 @@ mixer_tick(void)
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rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
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rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
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rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
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rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
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rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
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rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
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//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
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/* get the remaining channels, no remapping needed */
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/* get the remaining channels, no remapping needed */
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for (unsigned i = 4; i < system_state.rc_channels; i++) {
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for (unsigned i = 4; i < system_state.rc_channels; i++) {
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