From 0d917576d484d2e2dc0233c5545a16e36f6e2f41 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 15 Oct 2014 22:19:06 +0200 Subject: [PATCH 1/2] Enable flaps in manual override --- src/drivers/px4io/px4io.cpp | 9 ++++++++- src/modules/px4iofirmware/controls.c | 14 +++++++++++--- 2 files changed, 19 insertions(+), 4 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index d212be7661..73160b2d9d 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -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] = 8; + } + /* * Iterate all possible RC inputs. */ diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 7b127759ad..0b0832d557 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -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); @@ -313,8 +315,14 @@ controls_tick() { } } - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + /* pick out override channel, indicated by mapping 8 (9 th channel, virtual) */ + if (mapped == 8) { + rc_value_override = SIGNED_TO_REG(scaled); + } else { + /* normal channel */ + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + } } } @@ -409,7 +417,7 @@ 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) { From f4903316329ca91b9e872327f701de5b6a2cc13c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 16 Oct 2014 22:57:27 +0200 Subject: [PATCH 2/2] Enable flaps, avoid mode switch position --- src/drivers/px4io/px4io.cpp | 2 +- src/modules/px4iofirmware/controls.c | 13 +++++-------- src/modules/px4iofirmware/mixer.cpp | 7 ------- src/modules/px4iofirmware/protocol.h | 1 + src/modules/px4iofirmware/registers.c | 3 ++- 5 files changed, 9 insertions(+), 17 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 73160b2d9d..3871b4a2cb 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1274,7 +1274,7 @@ PX4IO::io_set_rc_config() if ((ichan >= 0) && (ichan < (int)_max_rc_input)) { /* use out of normal bounds index to indicate special channel */ - input_map[ichan - 1] = 8; + input_map[ichan - 1] = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH; } /* diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 0b0832d557..ad60ee03e0 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -315,15 +315,12 @@ controls_tick() { } } - /* pick out override channel, indicated by mapping 8 (9 th channel, virtual) */ - if (mapped == 8) { - rc_value_override = SIGNED_TO_REG(scaled); - } else { - /* normal channel */ - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); - } + 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); } } } diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 3e19333d8e..c0b8ac358c 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -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; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 89a470b44b..a3e8a58d31 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -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) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 7a5a5e4846..7f19e983f4 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -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++; }