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Adjust the control mapping from DSM receivers to correspond to the standard PPM control mapping for channels 0-4.

This commit is contained in:
px4dev 2012-12-04 22:00:24 -08:00
parent 7c3b28d503
commit fd771f67f2
3 changed files with 23 additions and 5 deletions
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2
apps/px4io/comms.c
View File

@ -130,7 +130,7 @@ comms_main(void)
last_report_time = now;
/* populate the report */
for (int i = 0; i < system_state.rc_channels; i++)
for (unsigned i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i];
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;

24
apps/px4io/dsm.c
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@ -322,10 +322,28 @@ dsm_decode(hrt_abstime frame_time)
/* convert 0-1024 / 0-2048 values to 1000-2000 ppm encoding in a very sloppy fashion */
if (channel_shift == 11)
value /= 2;
value += 998;
/* stuff the decoded channel into the PPM input buffer */
/* XXX check actual values */
system_state.rc_channel_data[channel] = 988 + value;
/*
* Store the decoded channel into the R/C input buffer, taking into
* account the different ideas about channel assignement that we have.
*
* Specifically, the first four channels in rc_channel_data are roll, pitch, thrust, yaw,
* but the first four channels from the DSM receiver are thrust, roll, pitch, yaw.
*/
switch (channel) {
case 0:
channel = 2;
break;
case 1:
channel = 0;
break;
case 2:
channel = 1;
default:
break;
}
system_state.rc_channel_data[channel] = value;
}
/* and note that we have received data from the R/C controller */

2
apps/px4io/px4io.h
View File

@ -75,7 +75,7 @@ struct sys_state_s
/*
* Data from the remote control input(s)
*/
int rc_channels;
unsigned rc_channels;
uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS];
uint64_t rc_channels_timestamp;