Merge branch 'master' into offboard2

1 files changed, 113 insertions, 29 deletions

diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 0823f9e70..ae0ff625b 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
  * @group Battery Calibration
  */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
+#elif CONFIG_ARCH_BOARD_AEROCORE
+/**
+ * Scaling factor for battery voltage sensor on AeroCore.
+ *
+ * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
 #else
 /**
  * Scaling factor for battery voltage sensor on FMU v1.
@@ -536,6 +545,20 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
 
 /**
+ * Failsafe channel mapping.
+ *
+ * The RC mapping index indicates which channel is used for failsafe
+ * If 0, whichever channel is mapped to throttle is used
+ * otherwise the value indicates the specific rc channel to use
+ *
+ * @min 0
+ * @max 18
+ *
+ *
+ */
+PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0);  //Default to throttle function
+
+/**
  * Throttle control channel mapping.
  *
  * The channel index (starting from 1 for channel 1) indicates
@@ -585,22 +608,30 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 
 /**
- * Assist switch channel mapping.
+ * Posctl switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
+
+/**
+ * Loiter switch channel mapping.
  *
  * @min 0
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 
 /**
- * Mission switch channel mapping.
+ * Offboard switch channel mapping.
  *
  * @min 0
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 
 /**
@@ -647,53 +678,106 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
 
 
 /**
- * Roll scaling factor
+ * Failsafe channel PWM threshold.
  *
+ * @min 800
+ * @max 2200
  * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
+PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
 
 /**
- * Pitch scaling factor
+ * Threshold for selecting assist mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
+PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
 
 /**
- * Yaw scaling factor
+ * Threshold for selecting auto mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
+PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
 
+/**
+ * Threshold for selecting posctl mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
 
 /**
- * Failsafe channel mapping.
+ * Threshold for selecting return to launch mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 18
- * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_FS_CH, 0);
+PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
 
 /**
- * Failsafe channel mode.
+ * Threshold for selecting loiter mode
  *
- * 0 = too low means signal loss,
- * 1 = too high means signal loss
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 1
- * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_FS_MODE, 0);
+PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
 
 /**
- * Failsafe channel PWM threshold.
+ * Threshold for selecting offboard mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 1
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_FS_THR, 800);
+PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);