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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-30 14:42:00 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-30 14:42:00 +0400 |
| commit | 6c30eebeb873fec7b573ac14d36936bb6c355243 (patch) | |
| tree | afec7fc5601b7f9ffd4236e6bfa66122472db539 /src/modules/sensors/sensors.cpp | |
| parent | 35e62a13f8b34447ed9abddd9fa349d392674a95 (diff) | |
| parent | c35c0a90d32e6a8003a136516b33056c9021ff32 (diff) | |
| download | px4-firmware-6c30eebeb873fec7b573ac14d36936bb6c355243.tar.gz px4-firmware-6c30eebeb873fec7b573ac14d36936bb6c355243.tar.bz2 px4-firmware-6c30eebeb873fec7b573ac14d36936bb6c355243.zip | |
Merge branch 'navigator_new' into navigator_new_vector
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 66491500e..7a2f4c6da 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1370,18 +1370,6 @@ Sensors::rc_poll() manual_control.yaw *= _parameters.rc_scale_yaw; } - /* mode switch input */ - manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); - - /* land switch input */ - manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); - - /* assisted switch input */ - manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); - - /* mission switch input */ - manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); - /* flaps */ if (_rc.function[FLAPS] >= 0) { @@ -1392,14 +1380,26 @@ Sensors::rc_poll() } } + /* mode switch input */ if (_rc.function[MODE] >= 0) { manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); } + /* assisted switch input */ + if (_rc.function[ASSISTED] >= 0) { + manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); + } + + /* mission switch input */ if (_rc.function[MISSION] >= 0) { manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); } + /* return switch input */ + if (_rc.function[RETURN] >= 0) { + manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); + } + // if (_rc.function[OFFBOARD_MODE] >= 0) { // manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); // } |