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author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-16 12:12:43 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-16 12:12:43 +0200 |
commit | 8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af (patch) | |
tree | ea6f3edcfa749eb5b0dcc7f307b0fa490d579617 /src/modules/sensors/sensor_params.c | |
parent | d2553bfd2930eb02664d564559fa361b80c63f61 (diff) | |
parent | f892a7278a4f452c12678fe00c6ff28c2354d548 (diff) | |
download | px4-firmware-8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af.tar.gz px4-firmware-8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af.tar.bz2 px4-firmware-8c4b35cc23ddf1eaef0dfc90f8fbb066b5b845af.zip |
Merge branch 'master' into offboard2
Diffstat (limited to 'src/modules/sensors/sensor_params.c')
-rw-r--r-- | src/modules/sensors/sensor_params.c | 142 |
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); |