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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-06 14:43:37 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-06 14:43:37 +0100 |
| commit | 0945a2cc2fe2d4214a5796cdd85f19a3b017d13c (patch) | |
| tree | 6a1b789a97ae25c0f1a1c94a499a93b2b5b21169 /apps/drivers | |
| parent | ef2efabbd46ec7d29dc4ff5363feea779b7b1c30 (diff) | |
| download | px4-firmware-0945a2cc2fe2d4214a5796cdd85f19a3b017d13c.tar.gz px4-firmware-0945a2cc2fe2d4214a5796cdd85f19a3b017d13c.tar.bz2 px4-firmware-0945a2cc2fe2d4214a5796cdd85f19a3b017d13c.zip | |
Fixed RC mapping transmission, tested. Fixed RC scaling in manual mode
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 39 |
1 files changed, 20 insertions, 19 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 332d4f882..70b289fd6 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -652,40 +652,41 @@ PX4IO::config_send() /* maintaing the standard order of Roll, Pitch, Yaw, Throttle */ param_get(param_find("RC_MAP_ROLL"), &val); - cfg.rc_map[0] = (uint8_t)val; + cfg.rc_map[0] = val; param_get(param_find("RC_MAP_PITCH"), &val); - cfg.rc_map[1] = (uint8_t)val; + cfg.rc_map[1] = val; param_get(param_find("RC_MAP_YAW"), &val); - cfg.rc_map[2] = (uint8_t)val; + cfg.rc_map[2] = val; param_get(param_find("RC_MAP_THROTTLE"), &val); - cfg.rc_map[3] = (uint8_t)val; + cfg.rc_map[3] = val; /* set the individual channel properties */ char nbuf[16]; + float float_val; for (unsigned i = 0; i < 4; i++) { - sprintf(nbuf, "RC%d_MIN", i); - param_get(param_find(nbuf), &val); - cfg.rc_min[i] = (uint16_t)val; + sprintf(nbuf, "RC%d_MIN", i + 1); + param_get(param_find(nbuf), &float_val); + cfg.rc_min[i] = float_val; } for (unsigned i = 0; i < 4; i++) { - sprintf(nbuf, "RC%d_TRIM", i); - param_get(param_find(nbuf), &val); - cfg.rc_trim[i] = (uint16_t)val; + sprintf(nbuf, "RC%d_TRIM", i + 1); + param_get(param_find(nbuf), &float_val); + cfg.rc_trim[i] = float_val; } for (unsigned i = 0; i < 4; i++) { - sprintf(nbuf, "RC%d_MAX", i); - param_get(param_find(nbuf), &val); - cfg.rc_max[i] = (uint16_t)val; + sprintf(nbuf, "RC%d_MAX", i + 1); + param_get(param_find(nbuf), &float_val); + cfg.rc_max[i] = float_val; } for (unsigned i = 0; i < 4; i++) { - sprintf(nbuf, "RC%d_REV", i); - param_get(param_find(nbuf), &val); - cfg.rc_rev[i] = (uint16_t)val; + sprintf(nbuf, "RC%d_REV", i + 1); + param_get(param_find(nbuf), &float_val); + cfg.rc_rev[i] = float_val; } for (unsigned i = 0; i < 4; i++) { - sprintf(nbuf, "RC%d_DZ", i); - param_get(param_find(nbuf), &val); - cfg.rc_dz[i] = (uint16_t)val; + sprintf(nbuf, "RC%d_DZ", i + 1); + param_get(param_find(nbuf), &float_val); + cfg.rc_dz[i] = float_val; } ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg)); |