Cleaned up control mode state machine / flight mode / navigation state machine still needs a bit cleaning up

1 files changed, 68 insertions, 17 deletions

diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index 37ba0ec3e..1546fb56d 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -69,60 +69,100 @@ PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
 PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC1_EXP, 0.0f);
+// PARAM_DEFINE_FLOAT(RC1_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC2_EXP, 0.0f);
+// PARAM_DEFINE_FLOAT(RC2_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC3_EXP, 0.0f);
+// PARAM_DEFINE_FLOAT(RC3_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC4_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC4_EXP, 0.0f);
+// PARAM_DEFINE_FLOAT(RC4_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC5_DZ,  0.0f);
-PARAM_DEFINE_FLOAT(RC5_EXP, 0.0f);
+// PARAM_DEFINE_FLOAT(RC5_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC6_EXP, 0.0f);
+// PARAM_DEFINE_FLOAT(RC6_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC7_EXP, 0.0f);
+// PARAM_DEFINE_FLOAT(RC7_EXP, 0.0f);
 
 PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f);
-PARAM_DEFINE_FLOAT(RC8_EXP, 0.0f);
-
-PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA
-
-PARAM_DEFINE_INT32(RC_DEMIX, 0); /**< 0 = off, 1 = auto, 2 = delta */
+// PARAM_DEFINE_FLOAT(RC8_EXP, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC9_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC9_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f);
+// PARAM_DEFINE_FLOAT(RC9_EXP, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC10_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC10_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC10_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC10_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f);
+// PARAM_DEFINE_FLOAT(RC10_EXP, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC11_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC11_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC11_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC11_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f);
+// PARAM_DEFINE_FLOAT(RC11_EXP, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC12_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC12_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC12_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC12_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f);
+// PARAM_DEFINE_FLOAT(RC12_EXP, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC13_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC13_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC13_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC13_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f);
+// PARAM_DEFINE_FLOAT(RC13_EXP, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC14_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC14_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC14_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC14_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
+// PARAM_DEFINE_FLOAT(RC12_EXP, 0.0f);
+
+PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */
 
 /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f));
@@ -131,12 +171,23 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
 PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3);
 PARAM_DEFINE_INT32(RC_MAP_YAW, 4);
-PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5);
-PARAM_DEFINE_INT32(RC_MAP_AUX1, 6);
-PARAM_DEFINE_INT32(RC_MAP_AUX2, 7);
-PARAM_DEFINE_INT32(RC_MAP_AUX3, 8);
+
+PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5);
+PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6);
+
+PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
+
+PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
+
+PARAM_DEFINE_INT32(RC_MAP_AUX1, 0);	/**< default function: camera yaw / azimuth */
+PARAM_DEFINE_INT32(RC_MAP_AUX2, 0);	/**< default function: camera pitch / tilt */
+PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);	/**< default function: camera trigger */
+PARAM_DEFINE_INT32(RC_MAP_AUX4, 0);	/**< default function: camera roll */
+PARAM_DEFINE_INT32(RC_MAP_AUX5, 0);	/**< default function: payload drop */
 
 PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f);
 PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f);
 PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f);
-