From b986607a750db74e05c60d09b048971bb0cfb18f Mon Sep 17 00:00:00 2001 From: tstellanova Date: Wed, 28 Aug 2013 18:32:16 -0700 Subject: Add defines for RC15 params (16 channels total) minor cleanup of rc sanity check code --- src/modules/sensors/sensor_params.c | 7 +++++++ src/modules/sensors/sensors.cpp | 23 ++++++++++++++--------- 2 files changed, 21 insertions(+), 9 deletions(-) (limited to 'src/modules/sensors') diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 16bfc8094..dd86f3e2e 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -158,6 +158,13 @@ PARAM_DEFINE_FLOAT(RC14_MAX, 2000); PARAM_DEFINE_FLOAT(RC14_REV, 1.0f); PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC15_MIN, 1000); +PARAM_DEFINE_FLOAT(RC15_TRIM, 1500); +PARAM_DEFINE_FLOAT(RC15_MAX, 2000); +PARAM_DEFINE_FLOAT(RC15_REV, 1.0f); +PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f); + + PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */ diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 88a6bebb8..e98c4d548 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -660,7 +660,9 @@ int Sensors::parameters_update() { bool rc_valid = true; - + float tmpScaleFactor = 0.0f; + float tmpRevFactor = 0.0f; + /* rc values */ for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) { @@ -670,18 +672,21 @@ Sensors::parameters_update() param_get(_parameter_handles.rev[i], &(_parameters.rev[i])); param_get(_parameter_handles.dz[i], &(_parameters.dz[i])); - _parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); - + tmpScaleFactor = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); + tmpRevFactor = tmpScaleFactor * _parameters.rev[i]; + /* handle blowup in the scaling factor calculation */ - if (!isfinite(_parameters.scaling_factor[i]) || - _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f || - _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) { - warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, _parameters.scaling_factor[i], (int)(_parameters.rev[i])); + if (!isfinite(tmpScaleFactor) || + (tmpRevFactor < 0.000001f) || + (tmpRevFactor > 0.2f) ) { + warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i])); /* scaling factors do not make sense, lock them down */ - _parameters.scaling_factor[i] = 0; + _parameters.scaling_factor[i] = 0.0f; rc_valid = false; } - + else { + _parameters.scaling_factor[i] = tmpScaleFactor; + } } /* handle wrong values */ -- cgit v1.2.3