From 1dc9785083e1ed7a7db27466fbe9f61f6bb277f7 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 22 Jan 2014 16:52:35 +0100 Subject: OFFBOARD switch added, WIP --- src/modules/sensors/sensors.cpp | 29 +++++++++++++---------------- 1 file changed, 13 insertions(+), 16 deletions(-) (limited to 'src/modules/sensors/sensors.cpp') diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 5e8c5edbc..f87f2f282 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -246,8 +246,7 @@ private: int rc_map_return_sw; int rc_map_assisted_sw; int rc_map_mission_sw; - -// int rc_map_offboard_ctrl_mode_sw; + int rc_map_offboard_sw; int rc_map_flaps; @@ -296,8 +295,7 @@ private: param_t rc_map_return_sw; param_t rc_map_assisted_sw; param_t rc_map_mission_sw; - -// param_t rc_map_offboard_ctrl_mode_sw; + param_t rc_map_offboard_sw; param_t rc_map_flaps; @@ -515,8 +513,7 @@ 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_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_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"); @@ -669,14 +666,14 @@ Sensors::parameters_update() warnx("Failed getting mission sw chan index"); } + if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) { + warnx("Failed getting offboard sw chan index"); + } + if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) { warnx("Failed getting flaps chan index"); } -// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) { -// warnx("Failed getting offboard control mode sw chan index"); -// } - param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)); param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)); param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)); @@ -700,11 +697,10 @@ 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[OFFBOARD_MODE] = _parameters.rc_map_offboard_sw - 1; _rc.function[FLAPS] = _parameters.rc_map_flaps - 1; -// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1; - _rc.function[AUX_1] = _parameters.rc_map_aux1 - 1; _rc.function[AUX_2] = _parameters.rc_map_aux2 - 1; _rc.function[AUX_3] = _parameters.rc_map_aux3 - 1; @@ -1289,7 +1285,7 @@ Sensors::rc_poll() manual_control.return_switch = NAN; manual_control.assisted_switch = NAN; manual_control.mission_switch = NAN; -// manual_control.auto_offboard_input_switch = NAN; + manual_control.offboard_switch = NAN; manual_control.flaps = NAN; manual_control.aux1 = NAN; @@ -1432,9 +1428,10 @@ Sensors::rc_poll() manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].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); -// } + /* offboard switch input */ + if (_rc.function[OFFBOARD_MODE] >= 0) { + manual_control.offboard_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled); + } /* aux functions, only assign if valid mapping is present */ if (_rc.function[AUX_1] >= 0) { -- cgit v1.2.3