added aux6 RC channel

Signed-off-by: Roman <bapstroman@gmail.com>
PX4 · Apr 3, 2019 · d36c0e1 · d36c0e1
1 parent a21242b
commit d36c0e1
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Showing 8 changed files with 43 additions and 2 deletions.
diff --git a/msg/manual_control_setpoint.msg b/msg/manual_control_setpoint.msg
@@ -48,6 +48,7 @@ float32 aux2			 # default function: camera pitch / tilt
 float32 aux3			 # default function: camera trigger
 float32 aux4			 # default function: camera roll
 float32 aux5			 # default function: payload drop
+float32 aux6
 
 uint8 mode_switch		 # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
 uint8 return_switch		 # return to launch 2 position switch (mandatory): _NORMAL_, RTL

diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg
@@ -25,12 +25,13 @@ uint8 RC_CHANNELS_FUNCTION_TRANSITION=21
 uint8 RC_CHANNELS_FUNCTION_GEAR=22
 uint8 RC_CHANNELS_FUNCTION_ARMSWITCH=23
 uint8 RC_CHANNELS_FUNCTION_STAB=24
-uint8 RC_CHANNELS_FUNCTION_MAN=25
+uint8 RC_CHANNELS_FUNCTION_AUX_6=25
+uint8 RC_CHANNELS_FUNCTION_MAN=26
 
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[26] function						# Functions mapping
+int8[27] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames
diff --git a/src/modules/sensors/parameters.cpp b/src/modules/sensors/parameters.cpp
@@ -101,6 +101,7 @@ void initialize_parameter_handles(ParameterHandles &parameter_handles)
 	parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
 	parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
 	parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
+	parameter_handles.rc_map_aux6 = param_find("RC_MAP_AUX6");
 
 	/* RC to parameter mapping for changing parameters with RC */
 	for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
@@ -314,6 +315,7 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
 	param_get(parameter_handles.rc_map_aux3, &(parameters.rc_map_aux3));
 	param_get(parameter_handles.rc_map_aux4, &(parameters.rc_map_aux4));
 	param_get(parameter_handles.rc_map_aux5, &(parameters.rc_map_aux5));
+	param_get(parameter_handles.rc_map_aux6, &(parameters.rc_map_aux6));
 
 	for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
 		param_get(parameter_handles.rc_map_param[i], &(parameters.rc_map_param[i]));

diff --git a/src/modules/sensors/parameters.h b/src/modules/sensors/parameters.h
@@ -98,6 +98,7 @@ struct Parameters {
 	int32_t rc_map_aux3;
 	int32_t rc_map_aux4;
 	int32_t rc_map_aux5;
+	int32_t rc_map_aux6;
 
 	int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
 
@@ -190,6 +191,7 @@ struct ParameterHandles {
 	param_t rc_map_aux3;
 	param_t rc_map_aux4;
 	param_t rc_map_aux5;
+	param_t rc_map_aux6;
 
 	param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
 	param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];	/**< param handles for the parameters which are bound

diff --git a/src/modules/sensors/rc_params.c b/src/modules/sensors/rc_params.c
@@ -1872,6 +1872,33 @@ PARAM_DEFINE_INT32(RC_MAP_AUX4, 0);
  */
 PARAM_DEFINE_INT32(RC_MAP_AUX5, 0);
 
+/**
+ * AUX6 Passthrough RC channel
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ * @value 0 Unassigned
+ * @value 1 Channel 1
+ * @value 2 Channel 2
+ * @value 3 Channel 3
+ * @value 4 Channel 4
+ * @value 5 Channel 5
+ * @value 6 Channel 6
+ * @value 7 Channel 7
+ * @value 8 Channel 8
+ * @value 9 Channel 9
+ * @value 10 Channel 10
+ * @value 11 Channel 11
+ * @value 12 Channel 12
+ * @value 13 Channel 13
+ * @value 14 Channel 14
+ * @value 15 Channel 15
+ * @value 16 Channel 16
+ * @value 17 Channel 17
+ * @value 18 Channel 18
+ */
+PARAM_DEFINE_INT32(RC_MAP_AUX6, 0);
 /**
  * PARAM1 tuning channel
  *

diff --git a/src/modules/sensors/rc_update.cpp b/src/modules/sensors/rc_update.cpp
@@ -114,6 +114,7 @@ void RCUpdate::update_rc_functions()
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3] = _parameters.rc_map_aux3 - 1;
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
+	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6] = _parameters.rc_map_aux6 - 1;
 
 	for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
 		_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
@@ -379,6 +380,7 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
 			manual.aux3 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_3, -1.0, 1.0);
 			manual.aux4 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4, -1.0, 1.0);
 			manual.aux5 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5, -1.0, 1.0);
+			manual.aux6 = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_AUX_6, -1.0, 1.0);
 
 			/* filter controls */
 			manual.y = math::constrain(_filter_roll.apply(manual.y), -1.f, 1.f);

diff --git a/src/modules/vmount/input_rc.cpp b/src/modules/vmount/input_rc.cpp
@@ -166,6 +166,9 @@ float InputRC::_get_aux_value(const manual_control_setpoint_s &manual_control_se
 	case 5:
 		return manual_control_setpoint.aux5;
 
+	case 6:
+		return manual_control_setpoint.aux6;
+
 	default:
 		return 0.0f;
 	}

diff --git a/src/modules/vmount/vmount_params.c b/src/modules/vmount/vmount_params.c
@@ -121,6 +121,7 @@ PARAM_DEFINE_FLOAT(MNT_OB_LOCK_MODE, 0.0f);
 * @value 3 AUX3
 * @value 4 AUX4
 * @value 5 AUX5
+* @value 6 AUX6
 * @min 0
 * @max 5
 * @group Mount
@@ -136,6 +137,7 @@ PARAM_DEFINE_INT32(MNT_MAN_ROLL, 0);
 * @value 3 AUX3
 * @value 4 AUX4
 * @value 5 AUX5
+* @value 6 AUX6
 * @min 0
 * @max 5
 * @group Mount
@@ -151,6 +153,7 @@ PARAM_DEFINE_INT32(MNT_MAN_PITCH, 0);
 * @value 3 AUX3
 * @value 4 AUX4
 * @value 5 AUX5
+* @value 6 AUX6
 * @min 0
 * @max 5
 * @group Mount