Merge pull request #1543 from thomasgubler/rcparamtune

RC param tune

3 files changed, 84 insertions, 2 deletions

diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 3d5755a46..d834c3574 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -246,3 +246,6 @@ ORB_DEFINE(tecs_status, struct tecs_status_s);
 
 #include "topics/wind_estimate.h"
 ORB_DEFINE(wind_estimate, struct wind_estimate_s);
+
+#include "topics/rc_parameter_map.h"
+ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s);
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 16916cc4d..2fde5d424 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -65,12 +65,15 @@ enum RC_CHANNELS_FUNCTION {
 	AUX_2,
 	AUX_3,
 	AUX_4,
-	AUX_5
+	AUX_5,
+	PARAM_1,
+	PARAM_2,
+	PARAM_3
 };
 
 // MAXIMUM FUNCTIONS IS != MAXIMUM RC INPUT CHANNELS
 
-#define RC_CHANNELS_FUNCTION_MAX 18
+#define RC_CHANNELS_FUNCTION_MAX 19
 
 /**
  * @addtogroup topics
diff --git a/src/modules/uORB/topics/rc_parameter_map.h b/src/modules/uORB/topics/rc_parameter_map.h
new file mode 100644
index 000000000..6e68dc4b6
--- /dev/null
+++ b/src/modules/uORB/topics/rc_parameter_map.h
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT ,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rc_parameter_map.h
+ * Maps RC channels to parameters
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#ifndef TOPIC_RC_PARAMETER_MAP_H
+#define TOPIC_RC_PARAMETER_MAP_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+#define RC_PARAM_MAP_NCHAN 3 // This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
+#define PARAM_ID_LEN 16 // corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct rc_parameter_map_s {
+	uint64_t timestamp;			/**< time at which the map was updated */
+
+	bool valid[RC_PARAM_MAP_NCHAN];		/**< true for RC-Param channels which are mapped to a param */
+
+	int param_index[RC_PARAM_MAP_NCHAN];	/**< corresponding param index, this
+						  this field is ignored if set to -1, in this case param_id will
+						  be used*/
+	char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1];	/**< corresponding param id, null terminated */
+	float scale[RC_PARAM_MAP_NCHAN];	/** scale to map the RC input [-1, 1] to a parameter value */
+	float value0[RC_PARAM_MAP_NCHAN];	/** inital value around which the parameter value is changed */
+	float value_min[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
+	float value_max[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(rc_parameter_map);
+
+#endif