diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 108 |
1 files changed, 46 insertions, 62 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 1ded14a91..49a1da83b 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -208,13 +208,11 @@ private: int rc_map_yaw; int rc_map_throttle; - int rc_map_manual_override_sw; - int rc_map_auto_mode_sw; + int rc_map_mode_sw; + int rc_map_return_sw; + int rc_map_mission_sw; - int rc_map_manual_mode_sw; - int rc_map_sas_mode_sw; - int rc_map_rtl_sw; - int rc_map_offboard_ctrl_mode_sw; +// int rc_map_offboard_ctrl_mode_sw; int rc_map_flaps; @@ -256,13 +254,11 @@ private: param_t rc_map_yaw; param_t rc_map_throttle; - param_t rc_map_manual_override_sw; - param_t rc_map_auto_mode_sw; + param_t rc_map_mode_sw; + param_t rc_map_return_sw; + param_t rc_map_mission_sw; - param_t rc_map_manual_mode_sw; - param_t rc_map_sas_mode_sw; - param_t rc_map_rtl_sw; - param_t rc_map_offboard_ctrl_mode_sw; +// param_t rc_map_offboard_ctrl_mode_sw; param_t rc_map_flaps; @@ -462,16 +458,15 @@ Sensors::Sensors() : _parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE"); /* mandatory mode switches, mapped to channel 5 and 6 per default */ - _parameter_handles.rc_map_manual_override_sw = param_find("RC_MAP_OVER_SW"); - _parameter_handles.rc_map_auto_mode_sw = param_find("RC_MAP_MODE_SW"); + _parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW"); + _parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW"); _parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS"); /* optional mode switches, not mapped per default */ - _parameter_handles.rc_map_manual_mode_sw = param_find("RC_MAP_MAN_SW"); - _parameter_handles.rc_map_sas_mode_sw = param_find("RC_MAP_SAS_SW"); - _parameter_handles.rc_map_rtl_sw = param_find("RC_MAP_RTL_SW"); - _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); + _parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW"); + +// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); _parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1"); _parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2"); @@ -611,33 +606,25 @@ Sensors::parameters_update() warnx("Failed getting throttle chan index"); } - if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) { - warnx("Failed getting override sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) { - warnx("Failed getting auto mode sw chan index"); - } - - if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { - warnx("Failed getting flaps chan index"); + if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) { + warnx("Failed getting mode sw chan index"); } - if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) { - warnx("Failed getting manual mode sw chan index"); + if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) { + warnx("Failed getting return sw chan index"); } - if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) { - warnx("Failed getting rtl sw chan index"); + if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { + warnx("Failed getting mission sw chan index"); } - if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) { - warnx("Failed getting sas mode sw chan index"); + if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { + warnx("Failed getting flaps chan index"); } - if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { - warnx("Failed getting offboard control mode sw chan index"); - } +// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { +// warnx("Failed getting offboard control mode sw chan index"); +// } if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) { warnx("Failed getting mode aux 1 index"); @@ -681,15 +668,13 @@ Sensors::parameters_update() _rc.function[PITCH] = _parameters.rc_map_pitch - 1; _rc.function[YAW] = _parameters.rc_map_yaw - 1; - _rc.function[OVERRIDE] = _parameters.rc_map_manual_override_sw - 1; - _rc.function[AUTO_MODE] = _parameters.rc_map_auto_mode_sw - 1; + _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; + _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; + _rc.function[MISSION] = _parameters.rc_map_mission_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; - _rc.function[MANUAL_MODE] = _parameters.rc_map_manual_mode_sw - 1; - _rc.function[RTL] = _parameters.rc_map_rtl_sw - 1; - _rc.function[SAS_MODE] = _parameters.rc_map_sas_mode_sw - 1; - _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; +// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1; _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1; @@ -1145,10 +1130,10 @@ Sensors::ppm_poll() manual_control.yaw = NAN; manual_control.throttle = NAN; - manual_control.manual_mode_switch = NAN; - manual_control.manual_sas_switch = NAN; - manual_control.return_to_launch_switch = NAN; - manual_control.auto_offboard_input_switch = NAN; + manual_control.mode_switch = NAN; + manual_control.return_switch = NAN; + manual_control.mission_switch = NAN; +// manual_control.auto_offboard_input_switch = NAN; manual_control.flaps = NAN; manual_control.aux1 = NAN; @@ -1248,11 +1233,14 @@ Sensors::ppm_poll() manual_control.yaw *= _parameters.rc_scale_yaw; } - /* override switch input */ - manual_control.manual_override_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OVERRIDE]].scaled); - /* mode switch input */ - manual_control.auto_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[AUTO_MODE]].scaled); + manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); + + /* land switch input */ + manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); + + /* land switch input */ + manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); /* flaps */ if (_rc.function[FLAPS] >= 0) { @@ -1264,21 +1252,17 @@ Sensors::ppm_poll() } } - if (_rc.function[MANUAL_MODE] >= 0) { - manual_control.manual_mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MANUAL_MODE]].scaled); - } - - if (_rc.function[SAS_MODE] >= 0) { - manual_control.manual_sas_switch = limit_minus_one_to_one(_rc.chan[_rc.function[SAS_MODE]].scaled); + if (_rc.function[MODE] >= 0) { + manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); } - if (_rc.function[RTL] >= 0) { - manual_control.return_to_launch_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RTL]].scaled); + if (_rc.function[MISSION] >= 0) { + manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); } - if (_rc.function[OFFBOARD_MODE] >= 0) { - manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); - } +// if (_rc.function[OFFBOARD_MODE] >= 0) { +// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); +// } /* aux functions, only assign if valid mapping is present */ if (_rc.function[AUX_1] >= 0) { |