diff options
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 1 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 4 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp | 26 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 68 |
4 files changed, 41 insertions, 58 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 933478f56..401faf8a7 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -45,7 +45,6 @@ #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> -#include <uORB/topics/rc_channels.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_global_position.h> diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 70ce76806..b29c0e086 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1200,8 +1200,8 @@ int sdlog2_thread_main(int argc, char *argv[]) if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) { log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ - memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); - log_msg.body.log_RC.channel_count = buf.rc.chan_count; + memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.channel_count; log_msg.body.log_RC.signal_lost = buf.rc.signal_lost; LOGBUFFER_WRITE_AND_COUNT(RC); } diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index b268b1b36..319626d6e 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1202,9 +1202,9 @@ Sensors::parameter_update_poll(bool forced) } #if 0 - printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]); - printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]); - printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100)); + printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]); + printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]); + printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100)); fflush(stdout); usleep(5000); #endif @@ -1334,7 +1334,7 @@ float Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value) { if (_rc.function[func] >= 0) { - float value = _rc.chan[_rc.function[func]].scaled; + float value = _rc.channels[_rc.function[func]]; if (value < min_value) { return min_value; @@ -1355,7 +1355,7 @@ switch_pos_t Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv) { if (_rc.function[func] >= 0) { - float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1376,7 +1376,7 @@ switch_pos_t Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv) { if (_rc.function[func] >= 0) { - float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f; + float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f; if (on_inv ? value < on_th : value > on_th) { return SWITCH_POS_ON; @@ -1468,25 +1468,25 @@ Sensors::rc_poll() * DO NOT REMOVE OR ALTER STEP 1! */ if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) { - _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); + _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]); } else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) { - _rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); + _rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]); } else { /* in the configured dead zone, output zero */ - _rc.chan[i].scaled = 0.0f; + _rc.channels[i] = 0.0f; } - _rc.chan[i].scaled *= _parameters.rev[i]; + _rc.channels[i] *= _parameters.rev[i]; /* handle any parameter-induced blowups */ - if (!isfinite(_rc.chan[i].scaled)) { - _rc.chan[i].scaled = 0.0f; + if (!isfinite(_rc.channels[i])) { + _rc.channels[i] = 0.0f; } } - _rc.chan_count = rc_input.channel_count; + _rc.channel_count = rc_input.channel_count; _rc.rssi = rc_input.rssi; _rc.signal_lost = signal_lost; _rc.timestamp = rc_input.timestamp_last_signal; diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 370c54442..829d8e57d 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -43,59 +43,43 @@ #include "../uORB.h" /** - * The number of RC channel inputs supported. - * Current (Q4/2013) radios support up to 18 channels, - * leaving at a sane value of 16. - * This number can be greater then number of RC channels, - * because single RC channel can be mapped to multiple - * functions, e.g. for various mode switches. - */ -#define RC_CHANNELS_MAPPED_MAX 16 - -/** * This defines the mapping of the RC functions. * The value assigned to the specific function corresponds to the entry of - * the channel array chan[]. + * the channel array channels[]. */ enum RC_CHANNELS_FUNCTION { THROTTLE = 0, - ROLL = 1, - PITCH = 2, - YAW = 3, - MODE = 4, - RETURN = 5, - POSCTL = 6, - LOITER = 7, - OFFBOARD_MODE = 8, - ACRO = 9, - FLAPS = 10, - AUX_1 = 11, - AUX_2 = 12, - AUX_3 = 13, - AUX_4 = 14, - AUX_5 = 15, - RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */ + ROLL, + PITCH, + YAW, + MODE, + RETURN, + POSCTL, + LOITER, + OFFBOARD_MODE, + ACRO, + FLAPS, + AUX_1, + AUX_2, + AUX_3, + AUX_4, + AUX_5, + RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */ }; /** * @addtogroup topics * @{ */ - struct rc_channels_s { - - uint64_t timestamp; /**< In microseconds since boot time. */ - uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */ - struct { - float scaled; /**< Scaled to -1..1 (throttle: 0..1) */ - } chan[RC_CHANNELS_MAPPED_MAX]; - uint8_t chan_count; /**< number of valid channels */ - - /*String array to store the names of the functions*/ - char function_name[RC_CHANNELS_FUNCTION_MAX][20]; - int8_t function[RC_CHANNELS_FUNCTION_MAX]; - uint8_t rssi; /**< Overall receive signal strength */ - bool signal_lost; /**< control signal lost, should be checked together with topic timeout */ + uint64_t timestamp; /**< Timestamp in microseconds since boot time */ + uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */ + float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */ + uint8_t channel_count; /**< Number of valid channels */ + char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */ + int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */ + uint8_t rssi; /**< Receive signal strength index */ + bool signal_lost; /**< Control signal lost, should be checked together with topic timeout */ }; /**< radio control channels. */ /** |