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Support 18 channels correctly on FMU

This commit is contained in:
Lorenz Meier 2013-12-22 21:09:47 +01:00
parent 6c990d0a6e
commit 9abf31c2ba
5 changed files with 27 additions and 12 deletions
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2
src/drivers/drv_rc_input.h
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions

18
src/modules/sensors/sensor_params.c
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@ -190,6 +190,24 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
#endif

4
src/modules/sensors/sensors.cpp
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@ -165,7 +165,7 @@ public:
int start();
private:
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
@ -602,7 +602,7 @@ Sensors::parameters_update()
float tmpRevFactor = 0.0f;
/* rc values */
for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
for (unsigned int i = 0; i < _rc_max_chan_count; i++) {
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));

4
src/modules/systemlib/rc_check.c
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@ -45,7 +45,7 @@
#include <systemlib/rc_check.h>
#include <systemlib/param/param.h>
#include <mavlink/mavlink_log.h>
#include <uORB/topics/rc_channels.h>
#include <drivers/drv_rc_input.h>
int rc_calibration_check(int mavlink_fd) {
@ -66,7 +66,7 @@ int rc_calibration_check(int mavlink_fd) {
int channel_fail_count = 0;
for (int i = 0; i < RC_CHANNELS_MAX; i++) {
for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
/* should the channel be enabled? */
uint8_t count = 0;

11
src/modules/uORB/topics/rc_channels.h
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@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
* @author Ivan Ovinnikov <oivan@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -47,13 +44,13 @@
/**
* The number of RC channel inputs supported.
* Current (Q1/2013) radios support up to 18 channels,
* Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 15.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
#define RC_CHANNELS_MAX 15
#define RC_CHANNELS_MAPPED_MAX 15
/**
* This defines the mapping of the RC functions.
@ -91,7 +88,7 @@ struct rc_channels_s {
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
struct {
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
} chan[RC_CHANNELS_MAX];
} chan[RC_CHANNELS_MAPPED_MAX];
uint8_t chan_count; /**< number of valid channels */
/*String array to store the names of the functions*/