propagate uorb contants change through all modules/drivers

1 files changed, 46 insertions, 46 deletions

diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 6aa6b6bbd..82bb1eb8e 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -813,28 +813,28 @@ Sensors::parameters_update()
 	_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
 
 	/* update RC function mappings */
-	_rc.function[RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
-
-	_rc.function[RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
-
-	_rc.function[RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
-
-	_rc.function[RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
-	_rc.function[RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
+
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
+
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
+
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
 
 	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
-		_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
+		_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
 	}
 
 	/* gyro offsets */
@@ -1498,7 +1498,7 @@ Sensors::rc_parameter_map_poll(bool forced)
 		orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
 		/* update paramter handles to which the RC channels are mapped */
 		for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
-			if (_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
+			if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
 				/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
 				 * or no request to map this channel to a param has been sent via mavlink
 				 */
@@ -1673,17 +1673,17 @@ Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mi
 		float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
 
 		if (on_inv ? value < on_th : value > on_th) {
-			return SWITCH_POS_ON;
+			return manual_control_setpoint_s::SWITCH_POS_ON;
 
 		} else if (mid_inv ? value < mid_th : value > mid_th) {
-			return SWITCH_POS_MIDDLE;
+			return manual_control_setpoint_s::SWITCH_POS_MIDDLE;
 
 		} else {
-			return SWITCH_POS_OFF;
+			return manual_control_setpoint_s::SWITCH_POS_OFF;
 		}
 
 	} else {
-		return SWITCH_POS_NONE;
+		return manual_control_setpoint_s::SWITCH_POS_NONE;
 	}
 }
 
@@ -1694,14 +1694,14 @@ Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
 		float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
 
 		if (on_inv ? value < on_th : value > on_th) {
-			return SWITCH_POS_ON;
+			return manual_control_setpoint_s::SWITCH_POS_ON;
 
 		} else {
-			return SWITCH_POS_OFF;
+			return manual_control_setpoint_s::SWITCH_POS_OFF;
 		}
 
 	} else {
-		return SWITCH_POS_NONE;
+		return manual_control_setpoint_s::SWITCH_POS_NONE;
 	}
 }
 
@@ -1710,14 +1710,14 @@ Sensors::set_params_from_rc()
 {
 	static float param_rc_values[RC_PARAM_MAP_NCHAN] = {};
 	for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
-		if (_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
+		if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
 			/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
 			 * or no request to map this channel to a param has been sent via mavlink
 			 */
 			continue;
 		}
 
-		float rc_val = get_rc_value((RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
+		float rc_val = get_rc_value( (rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
 		/* Check if the value has changed,
 		 * maybe we need to introduce a more aggressive limit here */
 		if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) {
@@ -1847,24 +1847,24 @@ Sensors::rc_poll()
 			manual.timestamp = rc_input.timestamp_last_signal;
 
 			/* limit controls */
-			manual.y = get_rc_value(RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
-			manual.x = get_rc_value(RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
-			manual.r = get_rc_value(RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
-			manual.z = get_rc_value(RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
-			manual.flaps = get_rc_value(RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
-			manual.aux1 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
-			manual.aux2 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
-			manual.aux3 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
-			manual.aux4 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
-			manual.aux5 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
+			manual.y = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
+			manual.x = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
+			manual.r = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
+			manual.z = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
+			manual.flaps = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
+			manual.aux1 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
+			manual.aux2 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
+			manual.aux3 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
+			manual.aux4 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
+			manual.aux5 = get_rc_value (rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
 
 			/* mode switches */
-			manual.mode_switch = get_rc_sw3pos_position(RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
-			manual.posctl_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
-			manual.return_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
-			manual.loiter_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
-			manual.acro_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
-			manual.offboard_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
+			manual.mode_switch = get_rc_sw3pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
+			manual.posctl_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
+			manual.return_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
+			manual.loiter_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
+			manual.acro_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
+			manual.offboard_switch = get_rc_sw2pos_position (rc_channels_s::RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
 
 			/* publish manual_control_setpoint topic */
 			if (_manual_control_pub > 0) {