Mirrors_Framework/PX4-Autopilot
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This commit is contained in:
Junwoo Hwang
2022-05-24 22:25:08 +02:00
parent 474540937c
commit 18e664d416
2 changed files with 10 additions and 35 deletions
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src/modules/rc_update/rc_update.cpp
+8 -33
View File
@@ -115,7 +115,6 @@ RCUpdate::RCUpdate() :
snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_ACTION", trig_slot); snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_ACTION", trig_slot);
_trigger_action_param_handles[trig_slot - 1] = param_find(param_name_buf); _trigger_action_param_handles[trig_slot - 1] = param_find(param_name_buf);
} }
}
rc_parameter_map_poll(true /* forced */); rc_parameter_map_poll(true /* forced */);
parameters_updated(); parameters_updated();
@@ -324,37 +323,6 @@ void RCUpdate::set_params_from_rc()
} }
} }
void
RCUpdate::map_flight_modes_buttons()
{
// Reset all the slots to -1
for (uint8_t slot = 0; slot < manual_control_switches_s::MODE_SLOT_NUM; slot++) {
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = -1;
}
// If the functionality is disabled we don't need to map channels
const int flightmode_buttons = _param_rc_map_flightmode_buttons.get();
if (flightmode_buttons == 0) {
return;
}
uint8_t slot = 0;
for (uint8_t channel = 0; channel < RC_MAX_CHAN_COUNT; channel++) {
if (flightmode_buttons & (1 << channel)) {
PX4_DEBUG("Slot %d assigned to channel %d", slot + 1, channel);
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = channel;
slot++;
}
if (slot >= manual_control_switches_s::MODE_SLOT_NUM) {
// we have filled all the available slots
break;
}
}
}
void RCUpdate::Run() void RCUpdate::Run()
{ {
if (should_exit()) { if (should_exit()) {
@@ -627,9 +595,16 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
} }
// Go through the trigger slots and update the states // Go through the trigger slots and update the states
const uint32_t rc_trigger_is_button_mask = _param_rc_trig_btn_mask.get();
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) { for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
int channel{RC_TRIG_CHAN_UNASSIGNED};
param_get(_trigger_channel_param_handles[trig_slot-1], &channel);
int action{RC_TRIGGER_ACTION_UNASSIGNED};
param_get(_trigger_action_param_handles[trig_slot-1], &action);
if (channel > RC_TRIG_CHAN_UNASSIGNED) {
}
} }
// Update the Generic Action states // Update the Generic Action states
src/modules/rc_update/rc_update.h
+2 -2
View File
@@ -69,6 +69,8 @@ namespace rc_update
// Number of Generic Trigger slots that can be configured // Number of Generic Trigger slots that can be configured
static constexpr uint8_t RC_TRIG_SLOT_COUNT = 6; static constexpr uint8_t RC_TRIG_SLOT_COUNT = 6;
// Value of the RC_TRIG#_CHAN when the channel is unassigned
static constexpr uint8_t RC_TRIG_CHAN_UNASSIGNED = 0;
// Enum class translation of the RC_TRIG#_ACTION values // Enum class translation of the RC_TRIG#_ACTION values
static constexpr enum RC_TRIGGER_ACTIONS { static constexpr enum RC_TRIGGER_ACTIONS {
@@ -164,8 +166,6 @@ private:
*/ */
void set_params_from_rc(); void set_params_from_rc();
void map_flight_modes_buttons();
static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */ static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
struct Parameters { struct Parameters {