diff options
Diffstat (limited to 'apps/sensors/sensors.c')
| -rw-r--r-- | apps/sensors/sensors.c | 60 |
1 files changed, 59 insertions, 1 deletions
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index ef8ff798f..b802eff34 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -60,6 +60,8 @@ #include <arch/board/up_adc.h> #include <systemlib/systemlib.h> +#include <systemlib/param/param.h> + #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/rc_channels.h> @@ -124,9 +126,65 @@ extern unsigned ppm_decoded_channels; extern uint64_t ppm_last_valid_decode; #endif -/* file handle that will be used for subscribing */ +/* file handle that will be used for publishing sensor data */ static int sensor_pub; +PARAM_DEFINE_FLOAT(sensor_gyro_xoffset, 0.0f); +PARAM_DEFINE_FLOAT(sensor_gyro_yoffset, 0.0f); +PARAM_DEFINE_FLOAT(sensor_gyro_zoffset, 0.0f); + +PARAM_DEFINE_FLOAT(sensor_mag_xoff, 0.0f); +PARAM_DEFINE_FLOAT(sensor_mag_yoff, 0.0f); +PARAM_DEFINE_FLOAT(sensor_mag_zoff, 0.0f); + +PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); +PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); +PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); +PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); + +PARAM_DEFINE_FLOAT(RC2_MIN, 1000); +PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC2_MAX, 2000); +PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); + +PARAM_DEFINE_FLOAT(RC3_MIN, 1000); +PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC3_MAX, 2000); +PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); + +PARAM_DEFINE_FLOAT(RC4_MIN, 1000); +PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC4_MAX, 2000); +PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); + +PARAM_DEFINE_FLOAT(RC5_MIN, 1000); +PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC5_MAX, 2000); +PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); + +PARAM_DEFINE_FLOAT(RC6_MIN, 1000); +PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC6_MAX, 2000); +PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); + +PARAM_DEFINE_FLOAT(RC7_MIN, 1000); +PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC7_MAX, 2000); +PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); + +PARAM_DEFINE_FLOAT(RC8_MIN, 1000); +PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC8_MAX, 2000); +PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); + +PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA + +PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); +PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); +PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); +PARAM_DEFINE_INT32(RC_MAP_YAW, 4); +PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5); + /** * Sensor readout and publishing. * |