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px4-firmware
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Enabled aux manual control channels

This commit is contained in:
Lorenz Meier 2012-11-24 19:37:51 +01:00
parent b1bc5e0e46
commit c184d7baeb
2 changed files with 46 additions and 7 deletions
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2
apps/sensors/sensor_params.c
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@ -136,5 +136,5 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 8);
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f); PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f);
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f); PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f);
PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 3.0f); PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f);

51
apps/sensors/sensors.cpp
View File

@ -184,6 +184,10 @@ private:
int rc_map_throttle; int rc_map_throttle;
int rc_map_mode_sw; int rc_map_mode_sw;
int rc_map_aux1;
int rc_map_aux2;
int rc_map_aux3;
float rc_scale_roll; float rc_scale_roll;
float rc_scale_pitch; float rc_scale_pitch;
float rc_scale_yaw; float rc_scale_yaw;
@ -212,6 +216,10 @@ private:
param_t rc_map_throttle; param_t rc_map_throttle;
param_t rc_map_mode_sw; param_t rc_map_mode_sw;
param_t rc_map_aux1;
param_t rc_map_aux2;
param_t rc_map_aux3;
param_t rc_scale_roll; param_t rc_scale_roll;
param_t rc_scale_pitch; param_t rc_scale_pitch;
param_t rc_scale_yaw; param_t rc_scale_yaw;
@ -389,6 +397,9 @@ Sensors::Sensors() :
_parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW"); _parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
_parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); _parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); _parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
@ -480,14 +491,20 @@ Sensors::parameters_update()
_parameters.scaling_factor[i] = 0; _parameters.scaling_factor[i] = 0;
} }
/* handle wrong values */
// XXX TODO
} }
/* update RC function mappings */ /* update RC function mappings */
_rc.function[0] = _parameters.rc_map_throttle - 1; _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
_rc.function[1] = _parameters.rc_map_roll - 1; _rc.function[ROLL] = _parameters.rc_map_roll - 1;
_rc.function[2] = _parameters.rc_map_pitch - 1; _rc.function[PITCH] = _parameters.rc_map_pitch - 1;
_rc.function[3] = _parameters.rc_map_yaw - 1; _rc.function[YAW] = _parameters.rc_map_yaw - 1;
_rc.function[4] = _parameters.rc_map_mode_sw - 1; _rc.function[OVERRIDE] = _parameters.rc_map_mode_sw - 1;
_rc.function[FUNC_0] = _parameters.rc_map_aux1 - 1;
_rc.function[FUNC_1] = _parameters.rc_map_aux2 - 1;
_rc.function[FUNC_2] = _parameters.rc_map_aux3 - 1;
/* remote control type */ /* remote control type */
if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) { if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
@ -510,6 +527,15 @@ Sensors::parameters_update()
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx("Failed getting mode sw chan index"); warnx("Failed getting mode sw chan index");
} }
if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
warnx("Failed getting mode aux 1 index");
}
if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
warnx("Failed getting mode aux 2 index");
}
if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
warnx("Failed getting mode aux 3 index");
}
if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) { if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
warnx("Failed getting rc scaling for roll"); warnx("Failed getting rc scaling for roll");
@ -973,7 +999,7 @@ Sensors::ppm_poll()
} }
/* yaw input - stick right is positive and positive rotation */ /* yaw input - stick right is positive and positive rotation */
manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw; manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled;
if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f; if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f;
if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f; if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;
if (!isnan(_parameters.rc_scale_yaw) || !isinf(_parameters.rc_scale_yaw)) { if (!isnan(_parameters.rc_scale_yaw) || !isinf(_parameters.rc_scale_yaw)) {
@ -990,6 +1016,19 @@ Sensors::ppm_poll()
if (manual_control.override_mode_switch < -1.0f) manual_control.override_mode_switch = -1.0f; if (manual_control.override_mode_switch < -1.0f) manual_control.override_mode_switch = -1.0f;
if (manual_control.override_mode_switch > 1.0f) manual_control.override_mode_switch = 1.0f; if (manual_control.override_mode_switch > 1.0f) manual_control.override_mode_switch = 1.0f;
/* aux functions */
manual_control.aux1_cam_pan_flaps = _rc.chan[_rc.function[FUNC_0]].scaled;
if (manual_control.aux1_cam_pan_flaps < -1.0f) manual_control.aux1_cam_pan_flaps = -1.0f;
if (manual_control.aux1_cam_pan_flaps > 1.0f) manual_control.aux1_cam_pan_flaps = 1.0f;
manual_control.aux2_cam_tilt = _rc.chan[_rc.function[FUNC_1]].scaled;
if (manual_control.aux2_cam_tilt < -1.0f) manual_control.aux2_cam_tilt = -1.0f;
if (manual_control.aux2_cam_tilt > 1.0f) manual_control.aux2_cam_tilt = 1.0f;
manual_control.aux3_cam_zoom = _rc.chan[_rc.function[FUNC_2]].scaled;
if (manual_control.aux3_cam_zoom < -1.0f) manual_control.aux3_cam_zoom = -1.0f;
if (manual_control.aux3_cam_zoom > 1.0f) manual_control.aux3_cam_zoom = 1.0f;
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc); orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control); orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
} }