From 63c50676f9757f18dfca9ec3735ce59a045cea33 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 24 Apr 2014 22:38:19 +0200 Subject: MISSION switch renamed to LOITER --- src/modules/commander/commander.cpp | 4 ++-- src/modules/sensors/sensor_params.c | 4 ++-- src/modules/sensors/sensors.cpp | 12 ++++++------ src/modules/uORB/topics/manual_control_setpoint.h | 2 +- src/modules/uORB/topics/rc_channels.h | 2 +- 5 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ac433b1c7..67b9d16e8 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1231,12 +1231,12 @@ int commander_thread_main(int argc, char *argv[]) } else { /* MISSION switch */ - if (sp_man.mission_switch == SWITCH_POS_ON) { + if (sp_man.loiter_switch == SWITCH_POS_ON) { /* stick is in LOITER position */ status.set_nav_state = NAV_STATE_LOITER; status.set_nav_state_timestamp = hrt_absolute_time(); - } else if (sp_man.mission_switch != SWITCH_POS_NONE) { + } else if (sp_man.loiter_switch != SWITCH_POS_NONE) { /* stick is in MISSION position */ status.set_nav_state = NAV_STATE_MISSION; status.set_nav_state_timestamp = hrt_absolute_time(); diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index a1f2a4ad5..bc49f5c85 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -594,13 +594,13 @@ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); /** - * Mission switch channel mapping. + * Loiter switch channel mapping. * * @min 0 * @max 18 * @group Radio Calibration */ -PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index ba233dfd0..41e2148ac 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -254,7 +254,7 @@ private: int rc_map_mode_sw; int rc_map_return_sw; int rc_map_assisted_sw; - int rc_map_mission_sw; + int rc_map_loiter_sw; // int rc_map_offboard_ctrl_mode_sw; @@ -297,7 +297,7 @@ private: param_t rc_map_mode_sw; param_t rc_map_return_sw; param_t rc_map_assisted_sw; - param_t rc_map_mission_sw; + param_t rc_map_loiter_sw; // param_t rc_map_offboard_ctrl_mode_sw; @@ -508,7 +508,7 @@ 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_loiter_sw = param_find("RC_MAP_LOITER_SW"); // _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW"); @@ -654,7 +654,7 @@ Sensors::parameters_update() warnx(paramerr); } - if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) { + if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) { warnx(paramerr); } @@ -682,7 +682,7 @@ Sensors::parameters_update() _rc.function[MODE] = _parameters.rc_map_mode_sw - 1; _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[LOITER] = _parameters.rc_map_loiter_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; @@ -1416,7 +1416,7 @@ Sensors::rc_poll() /* mode switches */ manual.mode_switch = get_rc_switch_position(MODE); manual.assisted_switch = get_rc_switch_position(ASSISTED); - manual.mission_switch = get_rc_switch_position(MISSION); + manual.loiter_switch = get_rc_switch_position(LOITER); manual.return_switch = get_rc_switch_position(RETURN); /* publish manual_control_setpoint topic */ diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 2b3a337b2..a23d89cd2 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -79,7 +79,7 @@ struct manual_control_setpoint_s { switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ switch_pos_t return_switch; /**< land 2 position switch (mandatory): land, no effect */ switch_pos_t assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */ - switch_pos_t mission_switch; /**< mission 2 position switch (optional): mission, loiter */ + switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ /** diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h index 3246a39dd..c168b2fac 100644 --- a/src/modules/uORB/topics/rc_channels.h +++ b/src/modules/uORB/topics/rc_channels.h @@ -65,7 +65,7 @@ enum RC_CHANNELS_FUNCTION { MODE = 4, RETURN = 5, ASSISTED = 6, - MISSION = 7, + LOITER = 7, OFFBOARD_MODE = 8, FLAPS = 9, AUX_1 = 10, -- cgit v1.2.3