Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

added aux6 RC channel #11723

Merged
merged 1 commit into from
Apr 3, 2019
Merged

added aux6 RC channel #11723

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions msg/manual_control_setpoint.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
5 changes: 3 additions & 2 deletions msg/rc_channels.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
2 changes: 2 additions & 0 deletions src/modules/sensors/parameters.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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++) {
Expand Down Expand Up @@ -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]));
Expand Down
2 changes: 2 additions & 0 deletions src/modules/sensors/parameters.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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];

Expand Down Expand Up @@ -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
Expand Down
27 changes: 27 additions & 0 deletions src/modules/sensors/rc_params.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
*
Expand Down
2 changes: 2 additions & 0 deletions src/modules/sensors/rc_update.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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);
Expand Down
3 changes: 3 additions & 0 deletions src/modules/vmount/input_rc.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
Expand Down
3 changes: 3 additions & 0 deletions src/modules/vmount/vmount_params.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
Expand Down