From fb44ad8e22f2a0862f1d7bda66643a6336247024 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 10:29:17 +0200 Subject: Simplify the failsafe handling, reduce 3 params to one --- src/modules/sensors/sensor_params.c | 28 +++------------------------- src/modules/sensors/sensors.cpp | 26 +++++++------------------- 2 files changed, 10 insertions(+), 44 deletions(-) (limited to 'src/modules/sensors') diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 288c6e00a..e4564aa25 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -668,33 +668,11 @@ PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); */ PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); - -/** - * Failsafe channel mapping. - * - * @min 0 - * @max 18 - * @group Radio Calibration - */ -PARAM_DEFINE_INT32(RC_FS_CH, 0); - -/** - * Failsafe channel mode. - * - * 0 = too low means signal loss, - * 1 = too high means signal loss - * - * @min 0 - * @max 1 - * @group Radio Calibration - */ -PARAM_DEFINE_INT32(RC_FS_MODE, 0); - /** * Failsafe channel PWM threshold. * - * @min 0 - * @max 1 + * @min 800 + * @max 2200 * @group Radio Calibration */ -PARAM_DEFINE_FLOAT(RC_FS_THR, 800); +PARAM_DEFINE_FLOAT(RC_FS_THR, 0); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index f890c4c7f..2442acd6b 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -263,8 +263,6 @@ private: float rc_scale_yaw; float rc_scale_flaps; - int rc_fs_ch; - int rc_fs_mode; float rc_fs_thr; float battery_voltage_scaling; @@ -313,8 +311,6 @@ private: param_t rc_scale_yaw; param_t rc_scale_flaps; - param_t rc_fs_ch; - param_t rc_fs_mode; param_t rc_fs_thr; param_t battery_voltage_scaling; @@ -531,8 +527,6 @@ Sensors::Sensors() : _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); /* RC failsafe */ - _parameter_handles.rc_fs_ch = param_find("RC_FS_CH"); - _parameter_handles.rc_fs_mode = param_find("RC_FS_MODE"); _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); /* gyro offsets */ @@ -689,8 +683,6 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); - param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch)); - param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode)); param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr)); /* update RC function mappings */ @@ -1312,19 +1304,15 @@ Sensors::rc_poll() manual_control.aux5 = NAN; /* require at least four channels to consider the signal valid */ - if (rc_input.channel_count < 4) + if (rc_input.channel_count < 4) { return; + } - /* failsafe check */ - if (_parameters.rc_fs_ch != 0) { - if (_parameters.rc_fs_mode == 0) { - if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) - return; - - } else if (_parameters.rc_fs_mode == 1) { - if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) - return; - } + /* check for failsafe */ + if (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) + || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) { + /* do not publish manual control setpoints when there are none */ + return; } unsigned channel_limit = rc_input.channel_count; -- cgit v1.2.3