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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-15 22:19:06 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-10-15 22:19:06 +0200 |
| commit | 0d917576d484d2e2dc0233c5545a16e36f6e2f41 (patch) | |
| tree | 3957ef1d26713f137db9e6593a0377186ea6b028 /src | |
| parent | 3eb68bc66000e01849b562e2e3f7a077e1668203 (diff) | |
| download | px4-firmware-0d917576d484d2e2dc0233c5545a16e36f6e2f41.tar.gz px4-firmware-0d917576d484d2e2dc0233c5545a16e36f6e2f41.tar.bz2 px4-firmware-0d917576d484d2e2dc0233c5545a16e36f6e2f41.zip | |
Enable flaps in manual override
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 9 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 14 |
2 files changed, 19 insertions, 4 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index d212be766..73160b2d9 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1265,11 +1265,18 @@ PX4IO::io_set_rc_config() if ((ichan >= 0) && (ichan < (int)_max_rc_input)) input_map[ichan - 1] = 3; - param_get(param_find("RC_MAP_MODE_SW"), &ichan); + param_get(param_find("RC_MAP_FLAPS"), &ichan); if ((ichan >= 0) && (ichan < (int)_max_rc_input)) input_map[ichan - 1] = 4; + param_get(param_find("RC_MAP_MODE_SW"), &ichan); + + if ((ichan >= 0) && (ichan < (int)_max_rc_input)) { + /* use out of normal bounds index to indicate special channel */ + input_map[ichan - 1] = 8; + } + /* * Iterate all possible RC inputs. */ diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 7b127759a..0b0832d55 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -60,6 +60,8 @@ static perf_counter_t c_gather_ppm; static int _dsm_fd; +static uint16_t rc_value_override = 0; + bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) { perf_begin(c_gather_dsm); @@ -313,8 +315,14 @@ controls_tick() { } } - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + /* pick out override channel, indicated by mapping 8 (9 th channel, virtual) */ + if (mapped == 8) { + rc_value_override = SIGNED_TO_REG(scaled); + } else { + /* normal channel */ + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); + } } } @@ -409,7 +417,7 @@ controls_tick() { * requested override. * */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) < RC_CHANNEL_LOW_THRESH)) + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) override = true; if (override) { |