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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/px4io/mixer.cpp | |
| 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/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 31 |
1 files changed, 23 insertions, 8 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 95484bc9d..93fe93b39 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -80,7 +80,7 @@ bool mixer_servos_armed = false; static uint16_t *control_values; static int control_count; -static uint16_t rc_channel_data[PX4IO_CONTROL_CHANNELS]; +static uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS]; static int mixer_callback(uintptr_t handle, uint8_t control_group, @@ -127,14 +127,25 @@ mixer_tick(void) 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++) + for (unsigned i = 4; i < system_state.rc_channels; i++) { rc_channel_data[i] = system_state.rc_channel_data[i]; + } + + /* scale the control inputs */ + rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / + (float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000; - /* 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]); + if (rc_channel_data[THROTTLE] > 2000) { + rc_channel_data[THROTTLE] = 2000; + } + + if (rc_channel_data[THROTTLE] < 1000) { + rc_channel_data[THROTTLE] = 1000; + } + + // lib_lowprintf("Tmin: %d Ttrim: %d Tmax: %d T: %d \n", + // (int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]), + // (int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE])); control_values = &rc_channel_data[0]; sched_unlock(); @@ -218,7 +229,11 @@ mixer_callback(uintptr_t handle, return -1; /* scale from current PWM units (1000-2000) to mixer input values */ - control = ((float)control_values[control_index] - 1500.0f) / 500.0f; + if (system_state.manual_override_ok && system_state.mixer_manual_override && control_index == 3) { + control = ((float)control_values[control_index] - 1000.0f) / 1000.0f; + } else { + control = ((float)control_values[control_index] - 1500.0f) / 500.0f; + } return 0; } |