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-rw-r--r--src/modules/mavlink/orb_listener.c4
-rw-r--r--src/modules/px4iofirmware/controls.c26
-rw-r--r--src/modules/px4iofirmware/dsm.c2
-rw-r--r--src/modules/px4iofirmware/mixer.cpp33
-rw-r--r--src/modules/px4iofirmware/protocol.h54
-rw-r--r--src/modules/px4iofirmware/px4io.h6
-rw-r--r--src/modules/px4iofirmware/registers.c24
-rw-r--r--src/modules/px4iofirmware/sbus.c2
-rw-r--r--src/modules/sensors/sensor_params.c18
-rw-r--r--src/modules/sensors/sensors.cpp4
-rw-r--r--src/modules/systemlib/rc_check.c4
-rw-r--r--src/modules/uORB/topics/rc_channels.h11
12 files changed, 124 insertions, 64 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index c37c35a63..9e43467cc 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -499,8 +499,8 @@ l_actuator_outputs(const struct listener *l)
act_outputs.output[6],
act_outputs.output[7]);
- /* only send in HIL mode */
- if (mavlink_hil_enabled && armed.armed) {
+ /* only send in HIL mode and only send first group for HIL */
+ if (mavlink_hil_enabled && armed.armed && ids[l->arg] == ORB_ID(actuator_outputs_0)) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index ed29c8339..541eed0e1 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -66,7 +66,7 @@ controls_init(void)
sbus_init("/dev/ttyS2");
/* default to a 1:1 input map, all enabled */
- for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
+ for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
@@ -113,7 +113,7 @@ controls_tick() {
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
- bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
+ bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
}
@@ -136,8 +136,8 @@ controls_tick() {
perf_end(c_gather_ppm);
/* limit number of channels to allowable data size */
- if (r_raw_rc_count > PX4IO_INPUT_CHANNELS)
- r_raw_rc_count = PX4IO_INPUT_CHANNELS;
+ if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS)
+ r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;
/*
* In some cases we may have received a frame, but input has still
@@ -210,14 +210,16 @@ controls_tick() {
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
- ASSERT(mapped < PX4IO_CONTROL_CHANNELS);
+ if (mapped < PX4IO_CONTROL_CHANNELS) {
- /* invert channel if pitch - pulling the lever down means pitching up by convention */
- if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
- scaled = -scaled;
+ /* invert channel if pitch - pulling the lever down means pitching up by convention */
+ if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
+ scaled = -scaled;
+
+ r_rc_values[mapped] = SIGNED_TO_REG(scaled);
+ assigned_channels |= (1 << mapped);
- r_rc_values[mapped] = SIGNED_TO_REG(scaled);
- assigned_channels |= (1 << mapped);
+ }
}
}
@@ -334,8 +336,8 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
/* PPM data exists, copy it */
*num_values = ppm_decoded_channels;
- if (*num_values > PX4IO_CONTROL_CHANNELS)
- *num_values = PX4IO_CONTROL_CHANNELS;
+ if (*num_values > PX4IO_RC_INPUT_CHANNELS)
+ *num_values = PX4IO_RC_INPUT_CHANNELS;
for (unsigned i = 0; i < *num_values; i++)
values[i] = ppm_buffer[i];
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index fd3b72015..4d306d6d0 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -355,7 +355,7 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
continue;
/* ignore channels out of range */
- if (channel >= PX4IO_INPUT_CHANNELS)
+ if (channel >= PX4IO_RC_INPUT_CHANNELS)
continue;
/* update the decoded channel count */
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 35ef5fcf6..e55ef784a 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -77,7 +77,8 @@ enum mixer_source {
MIX_NONE,
MIX_FMU,
MIX_OVERRIDE,
- MIX_FAILSAFE
+ MIX_FAILSAFE,
+ MIX_OVERRIDE_FMU_OK
};
static mixer_source source;
@@ -135,10 +136,19 @@ mixer_tick(void)
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
- !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
+ !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
+ !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
+ } else if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
+ (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
+ (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
+ !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
+ (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
+
+ /* if allowed, mix from RC inputs directly up to available rc channels */
+ source = MIX_OVERRIDE_FMU_OK;
}
}
@@ -240,24 +250,35 @@ mixer_callback(uintptr_t handle,
uint8_t control_index,
float &control)
{
- if (control_group != 0)
+ if (control_group > 3)
return -1;
switch (source) {
case MIX_FMU:
- if (control_index < PX4IO_CONTROL_CHANNELS) {
- control = REG_TO_FLOAT(r_page_controls[control_index]);
+ if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS ) {
+ control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
break;
}
return -1;
case MIX_OVERRIDE:
- if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) {
+ if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) {
control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
break;
}
return -1;
+ case MIX_OVERRIDE_FMU_OK:
+ /* FMU is ok but we are in override mode, use direct rc control for the available rc channels. The remaining channels are still controlled by the fmu */
+ if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) {
+ control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
+ break;
+ } else if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS) {
+ control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
+ break;
+ }
+ return -1;
+
case MIX_FAILSAFE:
case MIX_NONE:
control = 0.0f;
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 500e0ed4b..e5bef6eb3 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -63,7 +63,7 @@
* readable pages to be densely packed. Page numbers do not need to be
* packed.
*
- * Definitions marked 1 are only valid on PX4IOv1 boards. Likewise,
+ * Definitions marked [1] are only valid on PX4IOv1 boards. Likewise,
* [2] denotes definitions specific to the PX4IOv2 board.
*/
@@ -76,6 +76,9 @@
#define PX4IO_PROTOCOL_VERSION 4
+/* maximum allowable sizes on this protocol version */
+#define PX4IO_PROTOCOL_MAX_CONTROL_COUNT 8 /**< The protocol does not support more than set here, individual units might support less - see PX4IO_P_CONFIG_CONTROL_COUNT */
+
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* PX4IO_PROTOCOL_VERSION */
@@ -87,6 +90,7 @@
#define PX4IO_P_CONFIG_RC_INPUT_COUNT 6 /* hardcoded max R/C input count supported */
#define PX4IO_P_CONFIG_ADC_INPUT_COUNT 7 /* hardcoded max ADC inputs */
#define PX4IO_P_CONFIG_RELAY_COUNT 8 /* hardcoded # of relay outputs */
+#define PX4IO_P_CONFIG_CONTROL_GROUP_COUNT 8 /**< hardcoded # of control groups*/
/* dynamic status page */
#define PX4IO_PAGE_STATUS 1
@@ -186,7 +190,7 @@ enum { /* DSM bind states */
dsm_bind_reinit_uart
};
/* 8 */
-#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
+#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
@@ -194,41 +198,51 @@ enum { /* DSM bind states */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
/* autopilot control values, -10000..10000 */
-#define PX4IO_PAGE_CONTROLS 51 /* 0..CONFIG_CONTROL_COUNT */
+#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
+#define PX4IO_P_CONTROLS_GROUP_0 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_1 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_2 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
+
+#define PX4IO_P_CONTROLS_GROUP_VALID 64
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */
/* raw text load to the mixer parser - ignores offset */
-#define PX4IO_PAGE_MIXERLOAD 52
+#define PX4IO_PAGE_MIXERLOAD 52
/* R/C channel config */
-#define PX4IO_PAGE_RC_CONFIG 53 /* R/C input configuration */
-#define PX4IO_P_RC_CONFIG_MIN 0 /* lowest input value */
-#define PX4IO_P_RC_CONFIG_CENTER 1 /* center input value */
-#define PX4IO_P_RC_CONFIG_MAX 2 /* highest input value */
-#define PX4IO_P_RC_CONFIG_DEADZONE 3 /* band around center that is ignored */
-#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /* mapped input value */
-#define PX4IO_P_RC_CONFIG_OPTIONS 5 /* channel options bitmask */
+#define PX4IO_PAGE_RC_CONFIG 53 /**< R/C input configuration */
+#define PX4IO_P_RC_CONFIG_MIN 0 /**< lowest input value */
+#define PX4IO_P_RC_CONFIG_CENTER 1 /**< center input value */
+#define PX4IO_P_RC_CONFIG_MAX 2 /**< highest input value */
+#define PX4IO_P_RC_CONFIG_DEADZONE 3 /**< band around center that is ignored */
+#define PX4IO_P_RC_CONFIG_ASSIGNMENT 4 /**< mapped input value */
+#define PX4IO_P_RC_CONFIG_OPTIONS 5 /**< channel options bitmask */
#define PX4IO_P_RC_CONFIG_OPTIONS_ENABLED (1 << 0)
#define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1)
-#define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */
+#define PX4IO_P_RC_CONFIG_STRIDE 6 /**< spacing between channel config data */
/* PWM output - overrides mixer */
-#define PX4IO_PAGE_DIRECT_PWM 54 /* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_DIRECT_PWM 54 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
-#define PX4IO_PAGE_FAILSAFE_PWM 55 /* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* Debug and test page - not used in normal operation */
-#define PX4IO_PAGE_TEST 127
-#define PX4IO_P_TEST_LED 0 /* set the amber LED on/off */
+#define PX4IO_PAGE_TEST 127
+#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */
/* PWM minimum values for certain ESCs */
-#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_CONTROL_MIN_PWM 106 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM maximum values for certain ESCs */
-#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_CONTROL_MAX_PWM 107 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM disarmed values that are active, even when SAFETY_SAFE */
-#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
+#define PX4IO_PAGE_DISARMED_PWM 108 /* 0..CONFIG_ACTUATOR_COUNT-1 */
/**
* As-needed mixer data upload.
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index b9c9e0232..dea04a663 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -53,7 +53,9 @@
*/
#define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8
-#define PX4IO_INPUT_CHANNELS 8 // XXX this should be 18 channels
+#define PX4IO_CONTROL_GROUPS 2
+#define PX4IO_RC_INPUT_CHANNELS 18
+#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */
/*
* Debug logging
@@ -169,6 +171,8 @@ extern pwm_limit_t pwm_limit;
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
+#define CONTROL_PAGE_INDEX(_group, _channel) (_group * PX4IO_CONTROL_CHANNELS + _channel)
+
/*
* Mixer
*/
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 6aa3a5cd2..0358725db 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -70,7 +70,7 @@ static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_MAX_TRANSFER] = 64, /* XXX hardcoded magic number */
[PX4IO_P_CONFIG_CONTROL_COUNT] = PX4IO_CONTROL_CHANNELS,
[PX4IO_P_CONFIG_ACTUATOR_COUNT] = PX4IO_SERVO_COUNT,
- [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_CONTROL_CHANNELS,
+ [PX4IO_P_CONFIG_RC_INPUT_COUNT] = PX4IO_RC_INPUT_CHANNELS,
[PX4IO_P_CONFIG_ADC_INPUT_COUNT] = PX4IO_ADC_CHANNEL_COUNT,
[PX4IO_P_CONFIG_RELAY_COUNT] = PX4IO_RELAY_CHANNELS,
};
@@ -116,7 +116,7 @@ uint16_t r_page_servos[PX4IO_SERVO_COUNT];
uint16_t r_page_raw_rc_input[] =
{
[PX4IO_P_RAW_RC_COUNT] = 0,
- [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon
+ [PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
};
/**
@@ -126,7 +126,7 @@ uint16_t r_page_raw_rc_input[] =
*/
uint16_t r_page_rc_input[] = {
[PX4IO_P_RC_VALID] = 0,
- [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0
+ [PX4IO_P_RC_BASE ... (PX4IO_P_RC_BASE + PX4IO_RC_MAPPED_CONTROL_CHANNELS)] = 0
};
/**
@@ -178,7 +178,7 @@ volatile uint16_t r_page_setup[] =
*
* Control values from the FMU.
*/
-volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
+volatile uint16_t r_page_controls[PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS];
/*
* PAGE 102 does not have a buffer.
@@ -189,7 +189,7 @@ volatile uint16_t r_page_controls[PX4IO_CONTROL_CHANNELS];
*
* R/C channel input configuration.
*/
-uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
+uint16_t r_page_rc_input_config[PX4IO_RC_INPUT_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE];
/* valid options */
#define PX4IO_P_RC_CONFIG_OPTIONS_VALID (PX4IO_P_RC_CONFIG_OPTIONS_REVERSE | PX4IO_P_RC_CONFIG_OPTIONS_ENABLED)
@@ -241,7 +241,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
case PX4IO_PAGE_CONTROLS:
/* copy channel data */
- while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
+ while ((offset < PX4IO_CONTROL_GROUPS * PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
r_page_controls[offset] = *values;
@@ -554,7 +554,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE;
uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE];
- if (channel >= PX4IO_CONTROL_CHANNELS)
+ if (channel >= PX4IO_RC_INPUT_CHANNELS)
return -1;
/* disable the channel until we have a chance to sanity-check it */
@@ -584,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/* this option is normally set last */
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint8_t count = 0;
+ bool disabled = false;
/* assert min..center..max ordering */
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
@@ -602,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
count++;
}
- if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_CONTROL_CHANNELS) {
+
+ if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
+ disabled = true;
+ } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
count++;
}
@@ -610,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (count) {
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
- } else {
+ } else if (!disabled) {
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
}
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 3dcfe7f5b..11ccd7356 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -252,7 +252,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
}
/* decode switch channels if data fields are wide enough */
- if (PX4IO_INPUT_CHANNELS > 17 && chancount > 15) {
+ if (PX4IO_RC_INPUT_CHANNELS > 17 && chancount > 15) {
chancount = 18;
/* channel 17 (index 16) */
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index f82647060..763723554 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -190,6 +190,24 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
+
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
#endif
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f99312f8c..d9f037c27 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -165,7 +165,7 @@ public:
int start();
private:
- static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
+ static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
hrt_abstime _rc_last_valid; /**< last time we got a valid RC signal */
@@ -602,7 +602,7 @@ Sensors::parameters_update()
float tmpRevFactor = 0.0f;
/* rc values */
- for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
+ for (unsigned int i = 0; i < _rc_max_chan_count; i++) {
param_get(_parameter_handles.min[i], &(_parameters.min[i]));
param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index b4350cc24..21e15ec56 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -45,7 +45,7 @@
#include <systemlib/rc_check.h>
#include <systemlib/param/param.h>
#include <mavlink/mavlink_log.h>
-#include <uORB/topics/rc_channels.h>
+#include <drivers/drv_rc_input.h>
int rc_calibration_check(int mavlink_fd) {
@@ -66,7 +66,7 @@ int rc_calibration_check(int mavlink_fd) {
int channel_fail_count = 0;
- for (int i = 0; i < RC_CHANNELS_MAX; i++) {
+ for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
/* should the channel be enabled? */
uint8_t count = 0;
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 5a8580143..086b2ef15 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -1,9 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- * Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
- * @author Ivan Ovinnikov <oivan@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -47,13 +44,13 @@
/**
* The number of RC channel inputs supported.
- * Current (Q1/2013) radios support up to 18 channels,
+ * Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 15.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
-#define RC_CHANNELS_MAX 15
+#define RC_CHANNELS_MAPPED_MAX 15
/**
* This defines the mapping of the RC functions.
@@ -91,7 +88,7 @@ struct rc_channels_s {
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
struct {
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
- } chan[RC_CHANNELS_MAX];
+ } chan[RC_CHANNELS_MAPPED_MAX];
uint8_t chan_count; /**< number of valid channels */
/*String array to store the names of the functions*/
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-25 01:32:57 +0000