From 33385a783cec5045a910e4890fa8c8f4b2fc7641 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 30 Dec 2013 14:04:24 +0400 Subject: Added NONE = not mapped state for mission and return switches --- src/modules/sensors/sensors.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) (limited to 'src/modules/sensors/sensors.cpp') diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index d9f037c27..9baf1a6af 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1372,18 +1372,6 @@ Sensors::rc_poll() manual_control.yaw *= _parameters.rc_scale_yaw; } - /* mode switch input */ - manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); - - /* land switch input */ - manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); - - /* assisted switch input */ - manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); - - /* mission switch input */ - manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); - /* flaps */ if (_rc.function[FLAPS] >= 0) { @@ -1394,14 +1382,26 @@ Sensors::rc_poll() } } + /* mode switch input */ if (_rc.function[MODE] >= 0) { manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); } + /* assisted switch input */ + if (_rc.function[ASSISTED] >= 0) { + manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); + } + + /* mission switch input */ if (_rc.function[MISSION] >= 0) { manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); } + /* return switch input */ + if (_rc.function[RETURN] >= 0) { + 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); // } -- cgit v1.2.3