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-rw-r--r--src/modules/sensors/sensors.cpp94
1 files changed, 47 insertions, 47 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 793b7c2b6..6aa6b6bbd 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -184,13 +184,13 @@ private:
/**
* Get and limit value for specified RC function. Returns NAN if not mapped.
*/
- float get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value);
+ float get_rc_value(uint8_t func, float min_value, float max_value);
/**
* Get switch position for specified function.
*/
- switch_pos_t get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
- switch_pos_t get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
+ switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
+ switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
/**
* Update paramters from RC channels if the functionality is activated and the
@@ -813,28 +813,28 @@ Sensors::parameters_update()
_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
/* update RC function mappings */
- _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
- _rc.function[ROLL] = _parameters.rc_map_roll - 1;
- _rc.function[PITCH] = _parameters.rc_map_pitch - 1;
- _rc.function[YAW] = _parameters.rc_map_yaw - 1;
-
- _rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
- _rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
- _rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
- _rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
- _rc.function[ACRO] = _parameters.rc_map_acro_sw - 1;
- _rc.function[OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
-
- _rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
-
- _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
- _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
- _rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
- _rc.function[AUX_4] = _parameters.rc_map_aux4 - 1;
- _rc.function[AUX_5] = _parameters.rc_map_aux5 - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_THROTTLE] = _parameters.rc_map_throttle - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_ROLL] = _parameters.rc_map_roll - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_PITCH] = _parameters.rc_map_pitch - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_YAW] = _parameters.rc_map_yaw - 1;
+
+ _rc.function[RC_CHANNELS_FUNCTION_MODE] = _parameters.rc_map_mode_sw - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_RETURN] = _parameters.rc_map_return_sw - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_POSCTL] = _parameters.rc_map_posctl_sw - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_LOITER] = _parameters.rc_map_loiter_sw - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_ACRO] = _parameters.rc_map_acro_sw - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
+
+ _rc.function[RC_CHANNELS_FUNCTION_FLAPS] = _parameters.rc_map_flaps - 1;
+
+ _rc.function[RC_CHANNELS_FUNCTION_AUX_1] = _parameters.rc_map_aux1 - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_AUX_2] = _parameters.rc_map_aux2 - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
- _rc.function[PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
+ _rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
/* gyro offsets */
@@ -891,8 +891,8 @@ Sensors::parameters_update()
return ERROR;
}
close(flowfd);
- }
-
+ }
+
get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
@@ -1498,7 +1498,7 @@ Sensors::rc_parameter_map_poll(bool forced)
orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
/* update paramter handles to which the RC channels are mapped */
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
- if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
+ if (_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
*/
@@ -1646,7 +1646,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
float
-Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
+Sensors::get_rc_value(uint8_t func, float min_value, float max_value)
{
if (_rc.function[func] >= 0) {
float value = _rc.channels[_rc.function[func]];
@@ -1667,7 +1667,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max
}
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)
+Sensors::get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
@@ -1688,7 +1688,7 @@ Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, boo
}
switch_pos_t
-Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
+Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
{
if (_rc.function[func] >= 0) {
float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
@@ -1710,14 +1710,14 @@ Sensors::set_params_from_rc()
{
static float param_rc_values[RC_PARAM_MAP_NCHAN] = {};
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
- if (_rc.function[PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
+ if (_rc.function[RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
*/
continue;
}
- float rc_val = get_rc_value((enum RC_CHANNELS_FUNCTION)(PARAM_1 + i), -1.0, 1.0);
+ float rc_val = get_rc_value((RC_CHANNELS_FUNCTION_PARAM_1 + i), -1.0, 1.0);
/* Check if the value has changed,
* maybe we need to introduce a more aggressive limit here */
if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) {
@@ -1847,24 +1847,24 @@ Sensors::rc_poll()
manual.timestamp = rc_input.timestamp_last_signal;
/* limit controls */
- manual.y = get_rc_value(ROLL, -1.0, 1.0);
- manual.x = get_rc_value(PITCH, -1.0, 1.0);
- manual.r = get_rc_value(YAW, -1.0, 1.0);
- manual.z = get_rc_value(THROTTLE, 0.0, 1.0);
- manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
- manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
- manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
- manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
- manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
- manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
+ manual.y = get_rc_value(RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
+ manual.x = get_rc_value(RC_CHANNELS_FUNCTION_PITCH, -1.0, 1.0);
+ manual.r = get_rc_value(RC_CHANNELS_FUNCTION_YAW, -1.0, 1.0);
+ manual.z = get_rc_value(RC_CHANNELS_FUNCTION_THROTTLE, 0.0, 1.0);
+ manual.flaps = get_rc_value(RC_CHANNELS_FUNCTION_FLAPS, -1.0, 1.0);
+ manual.aux1 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_1, -1.0, 1.0);
+ manual.aux2 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_2, -1.0, 1.0);
+ manual.aux3 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
+ manual.aux4 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
+ manual.aux5 = get_rc_value(RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
/* 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.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);
- manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
- manual.offboard_switch = get_rc_sw2pos_position(OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
+ manual.mode_switch = get_rc_sw3pos_position(RC_CHANNELS_FUNCTION_MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
+ manual.posctl_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
+ manual.return_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
+ manual.loiter_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
+ manual.acro_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
+ manual.offboard_switch = get_rc_sw2pos_position(RC_CHANNELS_FUNCTION_OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-02 22:11:14 +0000