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px4-firmware
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Merge pull request #1390 from PX4/flaps 

Enable flaps in manual override
This commit is contained in:
Lorenz Meier 2014-10-22 16:25:56 +02:00
parent 74b401c828 f490331632
commit 95789742c9
5 changed files with 17 additions and 10 deletions
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9
src/drivers/px4io/px4io.cpp
View File

@ -1265,11 +1265,18 @@ PX4IO::io_set_rc_config()
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 3;
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
param_get(param_find("RC_MAP_FLAPS"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input))
input_map[ichan - 1] = 4;
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
if ((ichan >= 0) && (ichan < (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
}
/*
* Iterate all possible RC inputs.
*/

7
src/modules/px4iofirmware/controls.c
View File

@ -60,6 +60,8 @@ static perf_counter_t c_gather_ppm;
static int _dsm_fd;
static uint16_t rc_value_override = 0;
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
{
perf_begin(c_gather_dsm);
@ -316,6 +318,9 @@ controls_tick() {
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
} else if (mapped == PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH) {
/* pick out override channel, indicated by special mapping */
rc_value_override = SIGNED_TO_REG(scaled);
}
}
}
@ -409,7 +414,7 @@ controls_tick() {
* requested override.
*
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) < RC_CHANNEL_LOW_THRESH))
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH))
override = true;
if (override) {

7
src/modules/px4iofirmware/mixer.cpp
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@ -60,13 +60,6 @@ extern "C" {
*/
#define FMU_INPUT_DROP_LIMIT_US 500000
/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
#define ROLL 0
#define PITCH 1
#define YAW 2
#define THROTTLE 3
#define OVERRIDE 4
/* current servo arm/disarm state */
static bool mixer_servos_armed = false;
static bool should_arm = false;

1
src/modules/px4iofirmware/protocol.h
View File

@ -246,6 +246,7 @@ enum { /* DSM bind states */
#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */
#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */
#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */
#define PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH 100 /**< magic value for mode switch */
#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */
#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)

3
src/modules/px4iofirmware/registers.c
View File

@ -686,7 +686,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
disabled = true;
} else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
} else if ((conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) &&
(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] != PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH)) {
count++;
}