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Working on override channel mapping, allowed trim cal only with RC on

This commit is contained in:
Lorenz Meier 2013-01-11 07:35:40 +01:00
parent 1d4feb6905
commit 65c8028629
2 changed files with 7 additions and 0 deletions
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5
apps/commander/commander.c
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@ -277,6 +277,11 @@ void tune_error(void) {
void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
{
if (current_status.offboard_control_signal_lost) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
return;
}
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
struct manual_control_setpoint_s sp;
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);

2
apps/px4io/mixer.cpp
View File

@ -72,6 +72,7 @@ extern "C" {
#define PITCH 1
#define YAW 2
#define THROTTLE 3
#define OVERRIDE 4
/* current servo arm/disarm state */
bool mixer_servos_armed = false;
@ -125,6 +126,7 @@ mixer_tick(void)
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
/* get the remaining channels, no remapping needed */
for (unsigned i = 4; i < system_state.rc_channels; i++) {