Send rc channel ordering and channel attributes from FMU to IO

4 files changed, 54 insertions, 15 deletions

diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
index c208db3ad..2733877a2 100644
--- a/apps/px4io/comms.c
+++ b/apps/px4io/comms.c
@@ -207,6 +207,19 @@ comms_handle_command(const void *buffer, size_t length)
 		system_state.servo_rate = new_servo_rate;
 	}
 
+	/* fetch the rc mappings */
+	for (unsigned i = 0; i < 4; i++)
+		system_state.rc_map[i] = cmd->rc_map[i];
+
+	/* fetch the rc channel attributes */
+	for (unsigned i = 0; i < 4; i++) {
+		system_state.rc_min[i] = cmd->rc_min[i];
+		system_state.rc_trim[i] = cmd->rc_trim[i];
+		system_state.rc_max[i] = cmd->rc_max[i];
+		system_state.rc_rev[i] = cmd->rc_rev[i];
+		system_state.rc_dz[i] = cmd->rc_dz[i];
+	}
+
 	/*
 	 * update servo values immediately.
 	 * the updates are done in addition also
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
index 98232a1a2..d65602587 100644
--- a/apps/px4io/mixer.cpp
+++ b/apps/px4io/mixer.cpp
@@ -67,6 +67,12 @@ extern "C" {
  */
 #define FMU_INPUT_DROP_LIMIT_US		200000
 
+/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
+#define ROLL     0
+#define PITCH    1
+#define YAW      2
+#define THROTTLE 3
+
 /* current servo arm/disarm state */
 bool mixer_servos_armed = false;
 
@@ -112,22 +118,22 @@ mixer_tick(void)
 			/* when override is on or the fmu is not available, but RC is present */
 			control_count = system_state.rc_channels;
 
-			// Remap the channels based on the radio type.
-			// FMU: Roll, Pitch, Yaw, Throttle
-			// Graupner: Throttle, Roll, Pitch, Yaw
 			sched_lock();
-			rc_channel_data[0] = system_state.rc_channel_data[1];
-			rc_channel_data[1] = system_state.rc_channel_data[2];
-			rc_channel_data[2] = system_state.rc_channel_data[3];
-			rc_channel_data[3] = system_state.rc_channel_data[0];
-			// AETR
-			//rc_channel_data[0] = system_state.rc_channel_data[0];
-			//rc_channel_data[1] = system_state.rc_channel_data[1];
-			//rc_channel_data[2] = system_state.rc_channel_data[3];
-			//rc_channel_data[3] = system_state.rc_channel_data[2];
-			for (unsigned i = 4; i < system_state.rc_channels; i++) {
+
+			/* 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]];
+
+			/* get the remaining channels, no remapping needed */
+			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] = ((rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) / 
+				(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000 + 1000;
+
 			control_values = &rc_channel_data[0];
 			sched_unlock();
 		} else {
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 3a049bb29..2632604ca 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -59,7 +59,13 @@ struct px4io_command {
 	bool		relay_state[PX4IO_RELAY_CHANNELS];	/**< relay states as requested by FMU */
 	bool		arm_ok;					/**< FMU allows full arming */
 	bool		vector_flight_mode_ok;			/**< FMU aquired a valid position lock, ready for pos control */
-	bool		manual_override_ok;			/**< if true, IO performs a direct manual override */ 
+	bool		manual_override_ok;			/**< if true, IO performs a direct manual override */
+	uint16_t	rc_map[4];				/**< channel ordering of roll, pitch, yaw, throttle */
+	uint16_t	rc_min[4];	/**< min value for each channel */
+	uint16_t	rc_trim[4];	/**< trim value for each channel */
+	uint16_t	rc_max[4];	/**< max value for each channel */
+	uint16_t	rc_rev[4];	/**< rev value for each channel */
+	uint16_t	rc_dz[4];	/**< dz value for each channel */
 };
 
 /**
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index fef0a9ba4..ef1584026 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -73,6 +73,20 @@ struct sys_state_s {
 	uint16_t	servo_rate;		/* output rate of servos in Hz */
 
 	/**
+	 * Remote control input(s) channel mappings
+	 */
+	uint16_t	rc_map[4];
+
+	/**
+	 * Remote control channel attributes 
+	 */
+	uint16_t	rc_min[4];
+	uint16_t	rc_trim[4];
+	uint16_t	rc_max[4];
+	uint16_t	rc_rev[4];
+	uint16_t	rc_dz[4];
+	
+	/**
 	 * Data from the remote control input(s)
 	 */
 	unsigned	rc_channels;