From f5bad08bd0f4e0f6506deeac9d369b2b9c2d9e32 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 27 Dec 2012 18:27:08 +0100 Subject: Cleaned up control mode state machine / flight mode / navigation state machine still needs a bit cleaning up --- apps/sensors/sensor_params.c | 85 +++++++++++++++++++++++++++++++++++--------- 1 file changed, 68 insertions(+), 17 deletions(-) (limited to 'apps/sensors/sensor_params.c') diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c index 37ba0ec3e..1546fb56d 100644 --- a/apps/sensors/sensor_params.c +++ b/apps/sensors/sensor_params.c @@ -69,60 +69,100 @@ PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f); PARAM_DEFINE_FLOAT(RC1_REV, 1.0f); PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC1_EXP, 0.0f); +// PARAM_DEFINE_FLOAT(RC1_EXP, 0.0f); PARAM_DEFINE_FLOAT(RC2_MIN, 1000); PARAM_DEFINE_FLOAT(RC2_TRIM, 1500); PARAM_DEFINE_FLOAT(RC2_MAX, 2000); PARAM_DEFINE_FLOAT(RC2_REV, 1.0f); PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC2_EXP, 0.0f); +// PARAM_DEFINE_FLOAT(RC2_EXP, 0.0f); PARAM_DEFINE_FLOAT(RC3_MIN, 1000); PARAM_DEFINE_FLOAT(RC3_TRIM, 1500); PARAM_DEFINE_FLOAT(RC3_MAX, 2000); PARAM_DEFINE_FLOAT(RC3_REV, 1.0f); PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC3_EXP, 0.0f); +// PARAM_DEFINE_FLOAT(RC3_EXP, 0.0f); PARAM_DEFINE_FLOAT(RC4_MIN, 1000); PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); PARAM_DEFINE_FLOAT(RC4_MAX, 2000); PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); PARAM_DEFINE_FLOAT(RC4_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC4_EXP, 0.0f); +// PARAM_DEFINE_FLOAT(RC4_EXP, 0.0f); PARAM_DEFINE_FLOAT(RC5_MIN, 1000); PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); PARAM_DEFINE_FLOAT(RC5_MAX, 2000); PARAM_DEFINE_FLOAT(RC5_REV, 1.0f); PARAM_DEFINE_FLOAT(RC5_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC5_EXP, 0.0f); +// PARAM_DEFINE_FLOAT(RC5_EXP, 0.0f); PARAM_DEFINE_FLOAT(RC6_MIN, 1000); PARAM_DEFINE_FLOAT(RC6_TRIM, 1500); PARAM_DEFINE_FLOAT(RC6_MAX, 2000); PARAM_DEFINE_FLOAT(RC6_REV, 1.0f); PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC6_EXP, 0.0f); +// PARAM_DEFINE_FLOAT(RC6_EXP, 0.0f); PARAM_DEFINE_FLOAT(RC7_MIN, 1000); PARAM_DEFINE_FLOAT(RC7_TRIM, 1500); PARAM_DEFINE_FLOAT(RC7_MAX, 2000); PARAM_DEFINE_FLOAT(RC7_REV, 1.0f); PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC7_EXP, 0.0f); +// PARAM_DEFINE_FLOAT(RC7_EXP, 0.0f); PARAM_DEFINE_FLOAT(RC8_MIN, 1000); PARAM_DEFINE_FLOAT(RC8_TRIM, 1500); PARAM_DEFINE_FLOAT(RC8_MAX, 2000); PARAM_DEFINE_FLOAT(RC8_REV, 1.0f); PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f); -PARAM_DEFINE_FLOAT(RC8_EXP, 0.0f); - -PARAM_DEFINE_INT32(RC_TYPE, 1); // 1 = FUTABA - -PARAM_DEFINE_INT32(RC_DEMIX, 0); /**< 0 = off, 1 = auto, 2 = delta */ +// PARAM_DEFINE_FLOAT(RC8_EXP, 0.0f); + +PARAM_DEFINE_FLOAT(RC9_MIN, 1000); +PARAM_DEFINE_FLOAT(RC9_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC9_MAX, 2000); +PARAM_DEFINE_FLOAT(RC9_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC9_DZ, 0.0f); +// PARAM_DEFINE_FLOAT(RC9_EXP, 0.0f); + +PARAM_DEFINE_FLOAT(RC10_MIN, 1000); +PARAM_DEFINE_FLOAT(RC10_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC10_MAX, 2000); +PARAM_DEFINE_FLOAT(RC10_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC10_DZ, 0.0f); +// PARAM_DEFINE_FLOAT(RC10_EXP, 0.0f); + +PARAM_DEFINE_FLOAT(RC11_MIN, 1000); +PARAM_DEFINE_FLOAT(RC11_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC11_MAX, 2000); +PARAM_DEFINE_FLOAT(RC11_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC11_DZ, 0.0f); +// PARAM_DEFINE_FLOAT(RC11_EXP, 0.0f); + +PARAM_DEFINE_FLOAT(RC12_MIN, 1000); +PARAM_DEFINE_FLOAT(RC12_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC12_MAX, 2000); +PARAM_DEFINE_FLOAT(RC12_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC12_DZ, 0.0f); +// PARAM_DEFINE_FLOAT(RC12_EXP, 0.0f); + +PARAM_DEFINE_FLOAT(RC13_MIN, 1000); +PARAM_DEFINE_FLOAT(RC13_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC13_MAX, 2000); +PARAM_DEFINE_FLOAT(RC13_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC13_DZ, 0.0f); +// PARAM_DEFINE_FLOAT(RC13_EXP, 0.0f); + +PARAM_DEFINE_FLOAT(RC14_MIN, 1000); +PARAM_DEFINE_FLOAT(RC14_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC14_MAX, 2000); +PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); +// PARAM_DEFINE_FLOAT(RC12_EXP, 0.0f); + +PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); @@ -131,12 +171,23 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); PARAM_DEFINE_INT32(RC_MAP_THROTTLE, 3); PARAM_DEFINE_INT32(RC_MAP_YAW, 4); -PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 5); -PARAM_DEFINE_INT32(RC_MAP_AUX1, 6); -PARAM_DEFINE_INT32(RC_MAP_AUX2, 7); -PARAM_DEFINE_INT32(RC_MAP_AUX3, 8); + +PARAM_DEFINE_INT32(RC_MAP_OVER_SW, 5); +PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 6); + +PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_SAS_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_RTL_SW, 0); +PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); + +PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); + +PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera yaw / azimuth */ +PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera pitch / tilt */ +PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera trigger */ +PARAM_DEFINE_INT32(RC_MAP_AUX4, 0); /**< default function: camera roll */ +PARAM_DEFINE_INT32(RC_MAP_AUX5, 0); /**< default function: payload drop */ PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.4f); PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.4f); PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 1.0f); - -- cgit v1.2.3