diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 085da905c..78b2fa8ee 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -315,6 +315,7 @@ private: int rc_map_return_sw; int rc_map_assisted_sw; int rc_map_mission_sw; + int rc_map_dist_bottom_sw; // int rc_map_offboard_ctrl_mode_sw; @@ -360,6 +361,7 @@ private: param_t rc_map_return_sw; param_t rc_map_assisted_sw; param_t rc_map_mission_sw; + param_t rc_map_dist_bottom_sw; // param_t rc_map_offboard_ctrl_mode_sw; @@ -578,6 +580,7 @@ Sensors::Sensors() : /* optional mode switches, not mapped per default */ _parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW"); _parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW"); + _parameter_handles.rc_map_dist_bottom_sw = param_find("RC_MAP_DIST_B_SW"); // _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); @@ -726,6 +729,10 @@ Sensors::parameters_update() warnx("Failed getting mission sw chan index"); } + if (param_get(_parameter_handles.rc_map_dist_bottom_sw, &(_parameters.rc_map_dist_bottom_sw)) != OK) { + warnx("Failed getting distance bottom sw chan index"); + } + if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { warnx("Failed getting flaps chan index"); } @@ -754,6 +761,7 @@ Sensors::parameters_update() _rc.function[RETURN] = _parameters.rc_map_return_sw - 1; _rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1; _rc.function[MISSION] = _parameters.rc_map_mission_sw - 1; + _rc.function[DIST_BOTTOM] = _parameters.rc_map_dist_bottom_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; @@ -1330,6 +1338,8 @@ Sensors::ppm_poll() manual_control.return_switch = NAN; manual_control.assisted_switch = NAN; manual_control.mission_switch = NAN; + manual_control.dist_bottom_switch = NAN; + // manual_control.auto_offboard_input_switch = NAN; manual_control.flaps = NAN; @@ -1442,6 +1452,9 @@ Sensors::ppm_poll() /* mission switch input */ manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); + /* distance bottom switch input */ + manual_control.dist_bottom_switch = limit_minus_one_to_one(_rc.chan[_rc.function[DIST_BOTTOM]].scaled); + /* flaps */ if (_rc.function[FLAPS] >= 0) { @@ -1460,6 +1473,10 @@ Sensors::ppm_poll() manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); } + if (_rc.function[DIST_BOTTOM] >= 0) { + manual_control.dist_bottom_switch = limit_minus_one_to_one(_rc.chan[_rc.function[DIST_BOTTOM]].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); // } |