Moved the channel mappings and attributes to the config section

6 files changed, 74 insertions, 60 deletions

diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index 07c65d8cd..cc6a425a3 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -222,7 +222,7 @@ PX4IO::PX4IO() :
 	_relays(0),
 	_switch_armed(false),
 	_send_needed(false),
-	_config_needed(false)
+	_config_needed(true)
 {
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
@@ -447,12 +447,6 @@ PX4IO::task_main()
 			}
 		}
 
-		/* send an update to IO if required */
-		if (_send_needed) {
-			_send_needed = false;
-			io_send();
-		}
-
 		/* send a config packet to IO if required */
 		if (_config_needed) {
 			_config_needed = false;
@@ -467,6 +461,12 @@ PX4IO::task_main()
 			_mix_buf = nullptr;
 			_mix_buf_len = 0;
 		}
+
+		/* send an update to IO if required */
+		if (_send_needed) {
+			_send_needed = false;
+			io_send();
+		}
 	}
 
 	unlock();
@@ -608,49 +608,60 @@ PX4IO::io_send()
 	cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok;
 	/* set desired PWM output rate */
 	cmd.servo_rate = _update_rate;
+	
+	ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
 
-	/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
-	cmd.rc_map[0] = param_find("RC_MAP_ROLL");
-	cmd.rc_map[1] = param_find("RC_MAP_PITCH");
-	cmd.rc_map[2] = param_find("RC_MAP_YAW");
-	cmd.rc_map[3] = param_find("RC_MAP_THROTTLE");
+	if (ret)
+		debug("send error %d", ret);
+}
+
+void
+PX4IO::config_send()
+{
+	px4io_config	cfg;
+	int		ret;
+
+	cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
+
+	int val;
+
+	/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */		
+	param_get(param_find("RC_MAP_ROLL"), &val);
+	cfg.rc_map[0] = (uint8_t)val;
+	param_get(param_find("RC_MAP_PITCH"), &val);
+	cfg.rc_map[1] = (uint8_t)val;
+	param_get(param_find("RC_MAP_YAW"), &val);
+	cfg.rc_map[2] = (uint8_t)val;
+	param_get(param_find("RC_MAP_THROTTLE"), &val);
+	cfg.rc_map[3] = (uint8_t)val;
 
 	/* set the individual channel properties */
 	char nbuf[16];
 	for (unsigned i = 0; i < 4; i++) {
-		sprintf(nbuf, "RC%d_MIN", i);	
-		cmd.rc_min[i] = (uint16_t)param_find(nbuf);
+		sprintf(nbuf, "RC%d_MIN", i);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_min[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_TRIM", i);	
-		cmd.rc_trim[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_trim[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_MAX", i);	
-		cmd.rc_max[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_max[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_REV", i);	
-		cmd.rc_rev[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_rev[i] = (uint16_t)val;
 	}
 	for (unsigned i = 0; i < 4; i++) {
 		sprintf(nbuf, "RC%d_DZ", i);	
-		cmd.rc_dz[i] = (uint16_t)param_find(nbuf);
+		param_get(param_find(nbuf), &val);	
+		cfg.rc_dz[i] = (uint16_t)val;
 	}
-	
-	ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
-
-	if (ret)
-		debug("send error %d", ret);
-}
-
-void
-PX4IO::config_send()
-{
-	px4io_config	cfg;
-	int		ret;
-
-	cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
 
 	ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));
 
diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c
index 2733877a2..85da65767 100644
--- a/apps/px4io/comms.c
+++ b/apps/px4io/comms.c
@@ -162,6 +162,20 @@ comms_handle_config(const void *buffer, size_t length)
 	}
 
 	frame_rx++;
+
+	/* fetch the rc mappings */
+	for (unsigned i = 0; i < 4; i++) {
+		system_state.rc_map[i] = cfg->rc_map[i];
+	}
+
+	/* fetch the rc channel attributes */ 
+	for (unsigned i = 0; i < 4; i++) {
+		system_state.rc_min[i]  = cfg->rc_min[i];
+		system_state.rc_trim[i] = cfg->rc_trim[i];
+		system_state.rc_max[i]  = cfg->rc_max[i];
+		system_state.rc_rev[i]  = cfg->rc_rev[i];
+		system_state.rc_dz[i]   = cfg->rc_dz[i];
+	}
 }
 
 static void
@@ -207,19 +221,6 @@ 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/controls.c b/apps/px4io/controls.c
index 564687b58..32fd7c33f 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -172,8 +172,9 @@ ppm_input(void)
 		/* PPM data exists, copy it */
 		system_state.rc_channels = ppm_decoded_channels;
 
-		for (unsigned i = 0; i < ppm_decoded_channels; i++)
+		for (unsigned i = 0; i < ppm_decoded_channels; i++) {
 			system_state.rc_channel_data[i] = ppm_buffer[i];
+		}
 
 		/* copy the timestamp and clear it */
 		system_state.rc_channels_timestamp = ppm_last_valid_decode;
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();
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 2632604ca..303e4a674 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -60,12 +60,6 @@ struct px4io_command {
 	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 */
-	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 */
 };
 
 /**
@@ -87,7 +81,12 @@ struct px4io_config {
 	uint16_t	f2i_config_magic;
 #define F2I_CONFIG_MAGIC	 0x6366
 
-	/* XXX currently nothing here */
+	uint8_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 ef1584026..01829e520 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -75,7 +75,7 @@ struct sys_state_s {
 	/**
 	 * Remote control input(s) channel mappings
 	 */
-	uint16_t	rc_map[4];
+	uint8_t	rc_map[4];
 
 	/**
 	 * Remote control channel attributes 
@@ -85,7 +85,7 @@ struct sys_state_s {
 	uint16_t	rc_max[4];
 	uint16_t	rc_rev[4];
 	uint16_t	rc_dz[4];
-	
+
 	/**
 	 * Data from the remote control input(s)
 	 */