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Added rc_map_failsafe to enable use of channels other than throttle for failsafe.

This commit is contained in:
TickTock- 2014-04-19 13:07:09 -07:00
parent 0b85c41cd1
commit 86a0862af6
2 changed files with 40 additions and 8 deletions
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29
src/modules/sensors/sensor_params.c
View File

@ -535,6 +535,35 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
*/
PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
/**
* Failsafe channel mapping.
*
* The RC mapping index indicates which rc function
* should be used for detecting the failsafe condition
*
* @min 0
* @max 14
*
* mapping (from rc_channels.h)
* THROTTLE = 0,
ROLL = 1,
PITCH = 2,
YAW = 3,
MODE = 4,
RETURN = 5,
ASSISTED = 6,
MISSION = 7,
OFFBOARD_MODE = 8,
FLAPS = 9,
AUX_1 = 10,
AUX_2 = 11,
AUX_3 = 12,
AUX_4 = 13,
AUX_5 = 14,
*
*/
PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0); //Default to throttle function
/**
* Throttle control channel mapping.
*

19
src/modules/sensors/sensors.cpp
View File

@ -242,6 +242,7 @@ private:
int rc_map_pitch;
int rc_map_yaw;
int rc_map_throttle;
int rc_map_failsafe;
int rc_map_mode_sw;
int rc_map_return_sw;
@ -290,6 +291,7 @@ private:
param_t rc_map_pitch;
param_t rc_map_yaw;
param_t rc_map_throttle;
param_t rc_map_failsafe;
param_t rc_map_mode_sw;
param_t rc_map_return_sw;
@ -512,6 +514,7 @@ Sensors::Sensors() :
/* optional mode switches, not mapped per default */
_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
_parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
@ -650,6 +653,10 @@ Sensors::parameters_update()
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx(paramerr);
}
@ -704,7 +711,6 @@ Sensors::parameters_update()
_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
_rc.function[AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[AUX_5] = _parameters.rc_map_aux5 - 1;
/* gyro offsets */
param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
@ -1310,8 +1316,8 @@ Sensors::rc_poll()
}
/* check for failsafe */
if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[_rc.function[THROTTLE]]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr))
|| ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[_rc.function[THROTTLE]]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))))) {
if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((rc_input.values[_rc.function[_parameters.rc_map_failsafe]] < _parameters.min[_rc.function[_parameters.rc_map_failsafe]]) && (rc_input.values[_rc.function[_parameters.rc_map_failsafe]] < _parameters.rc_fs_thr))
|| ((rc_input.values[_rc.function[_parameters.rc_map_failsafe]] > _parameters.max[_rc.function[_parameters.rc_map_failsafe]]) && (rc_input.values[_rc.function[_parameters.rc_map_failsafe]] > _parameters.rc_fs_thr))))) {
/* do not publish manual control setpoints when there are none */
return;
}
@ -1434,7 +1440,8 @@ Sensors::rc_poll()
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
// if (_rc.function[OFFBOARD_MODE] >= 0) {
// if (_rc.function[OFFBOARD_MODE] >= 0) {
// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
// }
@ -1455,10 +1462,6 @@ Sensors::rc_poll()
manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
}
if (_rc.function[AUX_5] >= 0) {
manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
}
/* copy from mapped manual control to control group 3 */
actuator_group_3.control[0] = manual_control.roll;
actuator_group_3.control[1] = manual_control.pitch;