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renamed mission_switch to loiter_switch and assisted_switch to easy_switch

This commit is contained in:
TickTock- 2014-04-22 18:23:27 -07:00
parent d6e6ee3440
commit 7e621070ca
5 changed files with 23 additions and 23 deletions
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10
src/modules/commander/commander.cpp
View File

@ -1231,12 +1231,12 @@ int commander_thread_main(int argc, char *argv[])
} else { } else {
/* MISSION switch */ /* MISSION switch */
if (sp_man.mission_switch == SWITCH_POS_ON) { if (sp_man.loiter_switch == SWITCH_POS_ON) {
/* stick is in LOITER position */ /* stick is in LOITER position */
status.set_nav_state = NAV_STATE_LOITER; status.set_nav_state = NAV_STATE_LOITER;
status.set_nav_state_timestamp = hrt_absolute_time(); status.set_nav_state_timestamp = hrt_absolute_time();
} else if (sp_man.mission_switch != SWITCH_POS_NONE) { } else if (sp_man.loiter_switch != SWITCH_POS_NONE) {
/* stick is in MISSION position */ /* stick is in MISSION position */
status.set_nav_state = NAV_STATE_MISSION; status.set_nav_state = NAV_STATE_MISSION;
status.set_nav_state_timestamp = hrt_absolute_time(); status.set_nav_state_timestamp = hrt_absolute_time();
@ -1296,7 +1296,7 @@ int commander_thread_main(int argc, char *argv[])
// TODO remove this hack // TODO remove this hack
/* flight termination in manual mode if assisted switch is on easy position */ /* flight termination in manual mode if assisted switch is on easy position */
if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch == SWITCH_POS_ON) { if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.easy_switch == SWITCH_POS_ON) {
if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
tune_positive(armed.armed); tune_positive(armed.armed);
} }
@ -1528,7 +1528,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; break;
case SWITCH_POS_MIDDLE: // ASSISTED case SWITCH_POS_MIDDLE: // ASSISTED
if (sp_man->assisted_switch == SWITCH_POS_ON) { if (sp_man->easy_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_EASY); res = main_state_transition(status, MAIN_STATE_EASY);
if (res != TRANSITION_DENIED) { if (res != TRANSITION_DENIED) {
@ -1545,7 +1545,7 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
break; // changed successfully or already in this mode break; // changed successfully or already in this mode
} }
if (sp_man->assisted_switch != SWITCH_POS_ON) { if (sp_man->easy_switch != SWITCH_POS_ON) {
print_reject_mode(status, "SEATBELT"); print_reject_mode(status, "SEATBELT");
} }

4
src/modules/sensors/sensor_params.c
View File

@ -620,7 +620,7 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
* @max 18 * @max 18
* @group Radio Calibration * @group Radio Calibration
*/ */
PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); PARAM_DEFINE_INT32(RC_MAP_EASY_SW, 0);
/** /**
* Mission switch channel mapping. * Mission switch channel mapping.
@ -629,7 +629,7 @@ PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
* @max 18 * @max 18
* @group Radio Calibration * @group Radio Calibration
*/ */
PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);

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

@ -253,8 +253,8 @@ private:
int rc_map_mode_sw; int rc_map_mode_sw;
int rc_map_return_sw; int rc_map_return_sw;
int rc_map_assisted_sw; int rc_map_easy_sw;
int rc_map_mission_sw; int rc_map_loiter_sw;
// int rc_map_offboard_ctrl_mode_sw; // int rc_map_offboard_ctrl_mode_sw;
@ -296,8 +296,8 @@ private:
param_t rc_map_mode_sw; param_t rc_map_mode_sw;
param_t rc_map_return_sw; param_t rc_map_return_sw;
param_t rc_map_assisted_sw; param_t rc_map_easy_sw;
param_t rc_map_mission_sw; param_t rc_map_loiter_sw;
// param_t rc_map_offboard_ctrl_mode_sw; // param_t rc_map_offboard_ctrl_mode_sw;
@ -507,8 +507,8 @@ Sensors::Sensors() :
_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
/* optional mode switches, not mapped per default */ /* optional mode switches, not mapped per default */
_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW"); _parameter_handles.rc_map_easy_sw = param_find("RC_MAP_EASY_SW");
_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW"); _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); // _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@ -650,11 +650,11 @@ Sensors::parameters_update()
warnx(paramerr); warnx(paramerr);
} }
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) { if (param_get(_parameter_handles.rc_map_easy_sw, &(_parameters.rc_map_easy_sw)) != OK) {
warnx(paramerr); warnx(paramerr);
} }
if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
warnx(paramerr); warnx(paramerr);
} }
@ -681,8 +681,8 @@ Sensors::parameters_update()
_rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
_rc.function[RETURN] = _parameters.rc_map_return_sw - 1; _rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1; _rc.function[EASY] = _parameters.rc_map_easy_sw - 1;
_rc.function[MISSION] = _parameters.rc_map_mission_sw - 1; _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
_rc.function[FLAPS] = _parameters.rc_map_flaps - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
@ -1415,8 +1415,8 @@ Sensors::rc_poll()
/* mode switches */ /* mode switches */
manual.mode_switch = get_rc_switch_position(MODE); manual.mode_switch = get_rc_switch_position(MODE);
manual.assisted_switch = get_rc_switch_position(ASSISTED); manual.easy_switch = get_rc_switch_position(EASY);
manual.mission_switch = get_rc_switch_position(MISSION); manual.loiter_switch = get_rc_switch_position(LOITER);
manual.return_switch = get_rc_switch_position(RETURN); manual.return_switch = get_rc_switch_position(RETURN);
/* publish manual_control_setpoint topic */ /* publish manual_control_setpoint topic */

4
src/modules/uORB/topics/manual_control_setpoint.h
View File

@ -78,8 +78,8 @@ struct manual_control_setpoint_s {
switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */ switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */
switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ switch_pos_t easy_switch; /**< assisted 2 position switch (optional): seatbelt, simple */
switch_pos_t mission_switch; /**< mission 2 position switch (optional): mission, loiter */ switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */
}; /**< manual control inputs */ }; /**< manual control inputs */
/** /**

4
src/modules/uORB/topics/rc_channels.h
View File

@ -64,8 +64,8 @@ enum RC_CHANNELS_FUNCTION {
YAW = 3, YAW = 3,
MODE = 4, MODE = 4,
RETURN = 5, RETURN = 5,
ASSISTED = 6, EASY = 6,
MISSION = 7, LOITER = 7,
OFFBOARD_MODE = 8, OFFBOARD_MODE = 8,
FLAPS = 9, FLAPS = 9,
AUX_1 = 10, AUX_1 = 10,