Merged

2 files changed, 33 insertions, 7 deletions

diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c
index cc74ae705..c83d6358e 100644
--- a/apps/sensors/sensor_params.c
+++ b/apps/sensors/sensor_params.c
@@ -136,5 +136,5 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 8);
 
 PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f);
 PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f);
-PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 3.0f);
+PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f);
 
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index a633e012c..fd71780cc 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -184,6 +184,10 @@ private:
 		int rc_map_throttle;
 		int rc_map_mode_sw;
 
+		int rc_map_aux1;
+		int rc_map_aux2;
+		int rc_map_aux3;
+
 		float rc_scale_roll;
 		float rc_scale_pitch;
 		float rc_scale_yaw;
@@ -212,6 +216,10 @@ private:
 		param_t rc_map_throttle;
 		param_t rc_map_mode_sw;
 
+		param_t rc_map_aux1;
+		param_t rc_map_aux2;
+		param_t rc_map_aux3;
+
 		param_t rc_scale_roll;
 		param_t rc_scale_pitch;
 		param_t rc_scale_yaw;
@@ -389,6 +397,9 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_yaw 	= param_find("RC_MAP_YAW");
 	_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
 	_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
+	_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
+	_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
+	_parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
 
 	_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
 	_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
@@ -480,14 +491,20 @@ Sensors::parameters_update()
 			_parameters.scaling_factor[i] = 0;
 		}
 
+		/* handle wrong values */
+		// XXX TODO
+
 	}
 
 	/* update RC function mappings */
-	_rc.function[0] = _parameters.rc_map_throttle - 1;
-	_rc.function[1] = _parameters.rc_map_roll - 1;
-	_rc.function[2] = _parameters.rc_map_pitch - 1;
-	_rc.function[3] = _parameters.rc_map_yaw - 1;
-	_rc.function[4] = _parameters.rc_map_mode_sw - 1;
+	_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
+	_rc.function[ROLL] = _parameters.rc_map_roll - 1;
+	_rc.function[PITCH] = _parameters.rc_map_pitch - 1;
+	_rc.function[YAW] = _parameters.rc_map_yaw - 1;
+	_rc.function[OVERRIDE] = _parameters.rc_map_mode_sw - 1;
+	_rc.function[FUNC_0] = _parameters.rc_map_aux1 - 1;
+	_rc.function[FUNC_1] = _parameters.rc_map_aux2 - 1;
+	_rc.function[FUNC_2] = _parameters.rc_map_aux3 - 1;
 
 	/* remote control type */
 	if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
@@ -510,6 +527,15 @@ Sensors::parameters_update()
 	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
 		warnx("Failed getting mode sw chan index");
 	}
+	if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
+		warnx("Failed getting mode aux 1 index");
+	}
+	if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
+		warnx("Failed getting mode aux 2 index");
+	}
+	if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
+		warnx("Failed getting mode aux 3 index");
+	}
 
 	if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
 		warnx("Failed getting rc scaling for roll");
@@ -990,7 +1016,7 @@ Sensors::ppm_poll()
 		if (manual_control.override_mode_switch < -1.0f) manual_control.override_mode_switch = -1.0f;
 		if (manual_control.override_mode_switch >  1.0f) manual_control.override_mode_switch =  1.0f;
 
-		/* aux inputs */
+		/* aux functions */
 		manual_control.aux1_cam_pan_flaps = _rc.chan[_rc.function[FUNC_0]].scaled;
 		if (manual_control.aux1_cam_pan_flaps < -1.0f) manual_control.aux1_cam_pan_flaps = -1.0f;
 		if (manual_control.aux1_cam_pan_flaps >  1.0f) manual_control.aux1_cam_pan_flaps =  1.0f;