diff options
-rw-r--r-- | src/modules/sensors/sensor_params.c | 6 | ||||
-rw-r--r-- | src/modules/sensors/sensors.cpp | 26 | ||||
-rw-r--r-- | src/modules/uORB/topics/rc_channels.h | 2 |
3 files changed, 17 insertions, 17 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 873fff872..0dfc3d9e1 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -599,7 +599,7 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); /** - * Assist switch channel mapping. + * Posctl switch channel mapping. * * @min 0 * @max 18 @@ -703,7 +703,7 @@ PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f); PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); /** - * Threshold for selecting posctrl mode + * Threshold for selecting posctl mode * * min:-1 * max:+1 @@ -716,7 +716,7 @@ PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f); * negative : true when channel<th * */ -PARAM_DEFINE_FLOAT(RC_POSCTRL_TH, 0.5f); +PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f); /** * Threshold for selecting return to launch mode diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 17980a8df..a02e8187d 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -255,7 +255,7 @@ private: int rc_map_mode_sw; int rc_map_return_sw; - int rc_map_posctrl_sw; + int rc_map_posctl_sw; int rc_map_loiter_sw; // int rc_map_offboard_ctrl_mode_sw; @@ -271,12 +271,12 @@ private: int32_t rc_fails_thr; float rc_assist_th; float rc_auto_th; - float rc_posctrl_th; + float rc_posctl_th; float rc_return_th; float rc_loiter_th; bool rc_assist_inv; bool rc_auto_inv; - bool rc_posctrl_inv; + bool rc_posctl_inv; bool rc_return_inv; bool rc_loiter_inv; @@ -309,7 +309,7 @@ private: param_t rc_map_mode_sw; param_t rc_map_return_sw; - param_t rc_map_posctrl_sw; + param_t rc_map_posctl_sw; param_t rc_map_loiter_sw; // param_t rc_map_offboard_ctrl_mode_sw; @@ -325,7 +325,7 @@ private: param_t rc_fails_thr; param_t rc_assist_th; param_t rc_auto_th; - param_t rc_posctrl_th; + param_t rc_posctl_th; param_t rc_return_th; param_t rc_loiter_th; @@ -526,7 +526,7 @@ Sensors::Sensors() : _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ - _parameter_handles.rc_map_posctrl_sw = param_find("RC_MAP_POSCTL_SW"); + _parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW"); _parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW"); // _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); @@ -541,7 +541,7 @@ Sensors::Sensors() : _parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR"); _parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH"); _parameter_handles.rc_auto_th = param_find("RC_AUTO_TH"); - _parameter_handles.rc_posctrl_th = param_find("RC_POSCTRL_TH"); + _parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH"); _parameter_handles.rc_return_th = param_find("RC_RETURN_TH"); _parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH"); @@ -678,7 +678,7 @@ Sensors::parameters_update() warnx("%s", paramerr); } - if (param_get(_parameter_handles.rc_map_posctrl_sw, &(_parameters.rc_map_posctrl_sw)) != OK) { + if (param_get(_parameter_handles.rc_map_posctl_sw, &(_parameters.rc_map_posctl_sw)) != OK) { warnx("%s", paramerr); } @@ -706,9 +706,9 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th)); _parameters.rc_auto_inv = (_parameters.rc_auto_th<0); _parameters.rc_auto_th = fabs(_parameters.rc_auto_th); - param_get(_parameter_handles.rc_posctrl_th, &(_parameters.rc_posctrl_th)); - _parameters.rc_posctrl_inv = (_parameters.rc_posctrl_th<0); - _parameters.rc_posctrl_th = fabs(_parameters.rc_posctrl_th); + param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th)); + _parameters.rc_posctl_inv = (_parameters.rc_posctl_th<0); + _parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th); param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th)); _parameters.rc_return_inv = (_parameters.rc_return_th<0); _parameters.rc_return_th = fabs(_parameters.rc_return_th); @@ -724,7 +724,7 @@ Sensors::parameters_update() _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; - _rc.function[POSCTRL] = _parameters.rc_map_posctrl_sw - 1; + _rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1; _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; @@ -1478,7 +1478,7 @@ Sensors::rc_poll() /* mode switches */ manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv); - manual.posctrl_switch = get_rc_sw2pos_position(POSCTRL, _parameters.rc_posctrl_th, _parameters.rc_posctrl_inv); + manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv); manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv); manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv); diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 9285235c9..b60402452 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -64,7 +64,7 @@ enum RC_CHANNELS_FUNCTION { YAW = 3, MODE = 4, RETURN = 5, - POSCTRL = 6, + POSCTL = 6, LOITER = 7, OFFBOARD_MODE = 8, FLAPS = 9, |