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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-28 21:57:30 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-28 22:55:04 +0100 |
| commit | ef8abfbf148ac6fd7a405acdd4ee8eeb156867b6 (patch) | |
| tree | 75455befdabb36c3269f9281f78a6cfe04ae8e11 | |
| parent | e9b41528dc39ac8a8c565a4c16fc5aa512e37b1a (diff) | |
| download | px4-firmware-ef8abfbf148ac6fd7a405acdd4ee8eeb156867b6.tar.gz px4-firmware-ef8abfbf148ac6fd7a405acdd4ee8eeb156867b6.tar.bz2 px4-firmware-ef8abfbf148ac6fd7a405acdd4ee8eeb156867b6.zip | |
rc2param: min and max values
| m--------- | mavlink/include/mavlink/v1.0 | 0 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_parameters.cpp | 2 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 10 | ||||
| -rw-r--r-- | src/modules/uORB/topics/rc_parameter_map.h | 2 |
4 files changed, 11 insertions, 3 deletions
diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0 -Subproject 87350ba3d2e42d15c5934fe3c3387167e9f8769 +Subproject b5732d07ec89025a9d321a923fe027d7df7b30a diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp index 6e0813b38..e9858b73c 100644 --- a/src/modules/mavlink/mavlink_parameters.cpp +++ b/src/modules/mavlink/mavlink_parameters.cpp @@ -154,6 +154,8 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg) _rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0'; _rc_param_map.scale[i] = map_rc.scale; _rc_param_map.value0[i] = map_rc.param_value0; + _rc_param_map.value_min[i] = map_rc.param_value_min; + _rc_param_map.value_max[i] = map_rc.param_value_max; if (map_rc.param_index == -2) { // -2 means unset map _rc_param_map.valid[i] = false; } else { diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index d404d8a4c..3fa1575f0 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1440,11 +1440,13 @@ Sensors::rc_parameter_map_poll(bool forced) } warnx("rc to parameter map updated"); for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { - warnx("\ti %d param_id %s scale %.3f value0 %.3f", + warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f", i, _rc_parameter_map.param_id[i], (double)_rc_parameter_map.scale[i], - (double)_rc_parameter_map.value0[i] + (double)_rc_parameter_map.value0[i], + (double)_rc_parameter_map.value_min[i], + (double)_rc_parameter_map.value_max[i] ); } } @@ -1645,7 +1647,9 @@ Sensors::set_params_from_rc() * maybe we need to introduce a more aggressive limit here */ if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) { param_rc_values[i] = rc_val; - float param_val = _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val; + float param_val = math::constrain( + _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val, + _rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]); param_set(_parameter_handles.rc_param[i], ¶m_val); } } diff --git a/src/modules/uORB/topics/rc_parameter_map.h b/src/modules/uORB/topics/rc_parameter_map.h index 47672c5d5..6e68dc4b6 100644 --- a/src/modules/uORB/topics/rc_parameter_map.h +++ b/src/modules/uORB/topics/rc_parameter_map.h @@ -63,6 +63,8 @@ struct rc_parameter_map_s { char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1]; /**< corresponding param id, null terminated */ float scale[RC_PARAM_MAP_NCHAN]; /** scale to map the RC input [-1, 1] to a parameter value */ float value0[RC_PARAM_MAP_NCHAN]; /** inital value around which the parameter value is changed */ + float value_min[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */ + float value_max[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */ }; /** |