diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 3307354a0..6e2d906e6 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -266,6 +266,7 @@ private: int rc_map_posctl_sw; int rc_map_loiter_sw; int rc_map_acro_sw; + int rc_map_offboard_sw; int rc_map_flaps; @@ -282,12 +283,14 @@ private: float rc_return_th; float rc_loiter_th; float rc_acro_th; + float rc_offboard_th; bool rc_assist_inv; bool rc_auto_inv; bool rc_posctl_inv; bool rc_return_inv; bool rc_loiter_inv; bool rc_acro_inv; + bool rc_offboard_inv; float battery_voltage_scaling; float battery_current_scaling; @@ -321,6 +324,7 @@ private: param_t rc_map_posctl_sw; param_t rc_map_loiter_sw; param_t rc_map_acro_sw; + param_t rc_map_offboard_sw; param_t rc_map_flaps; @@ -337,6 +341,7 @@ private: param_t rc_return_th; param_t rc_loiter_th; param_t rc_acro_th; + param_t rc_offboard_th; param_t battery_voltage_scaling; param_t battery_current_scaling; @@ -540,6 +545,7 @@ Sensors::Sensors() : _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_acro_sw = param_find("RC_MAP_ACRO_SW"); + _parameter_handles.rc_map_offboard_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"); @@ -555,6 +561,7 @@ Sensors::Sensors() : _parameter_handles.rc_return_th = param_find("RC_RETURN_TH"); _parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH"); _parameter_handles.rc_acro_th = param_find("RC_ACRO_TH"); + _parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); @@ -707,6 +714,10 @@ Sensors::parameters_update() warnx("%s", paramerr); } + if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) { + warnx("%s", paramerr); + } + if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { warnx("%s", paramerr); } @@ -735,6 +746,9 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th)); _parameters.rc_acro_inv = (_parameters.rc_acro_th < 0); _parameters.rc_acro_th = fabs(_parameters.rc_acro_th); + param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th)); + _parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0); + _parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th); /* update RC function mappings */ _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; @@ -747,6 +761,7 @@ Sensors::parameters_update() _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; @@ -1545,6 +1560,7 @@ Sensors::rc_poll() 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); /* publish manual_control_setpoint topic */ if (_manual_control_pub > 0) { |