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| author | Simon Wilks <sjwilks@gmail.com> | 2013-01-06 04:21:04 +0100 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2013-01-06 04:21:04 +0100 |
| commit | 7842caf3b2d5686c4e909d7d7f28758119e8918f (patch) | |
| tree | bb0b773138ea9997543ef7c98a6433c4e19ba408 /apps/px4io/mixer.cpp | |
| parent | 0a89ab7075e4d637c91e21246c4790599f046aec (diff) | |
| download | px4-firmware-7842caf3b2d5686c4e909d7d7f28758119e8918f.tar.gz px4-firmware-7842caf3b2d5686c4e909d7d7f28758119e8918f.tar.bz2 px4-firmware-7842caf3b2d5686c4e909d7d7f28758119e8918f.zip | |
Moved the channel mappings and attributes to the config section
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index d65602587..341c2e276 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -99,7 +99,7 @@ mixer_tick(void) /* too many frames without FMU input, time to go to failsafe */ system_state.mixer_manual_override = true; system_state.mixer_fmu_available = false; - //lib_lowprintf("RX timeout\n"); + lib_lowprintf("RX timeout\n"); } /* @@ -121,10 +121,10 @@ mixer_tick(void) sched_lock(); /* remap roll, pitch, yaw and throttle from RC specific to internal ordering */ - rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL]]; - rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH]]; - rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW]]; - rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE]]; + rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1]; + rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1]; + rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1]; + rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1]; /* get the remaining channels, no remapping needed */ for (unsigned i = 4; i < system_state.rc_channels; i++) @@ -133,6 +133,8 @@ mixer_tick(void) /* scale the control inputs */ rc_channel_data[THROTTLE] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / (system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000; + //lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n", + // system_state.rc_min[THROTTLE], system_state.rc_trim[THROTTLE], system_state.rc_max[THROTTLE], rc_channel_data[THROTTLE]); control_values = &rc_channel_data[0]; sched_unlock(); |