Mirrors_Framework/PX4-Autopilot
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Manually remap the channel assignements for testing.

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Simon Wilks
2013-01-05 15:46:26 +01:00
parent 805c08815e
commit 1b81724ef7
1 changed files with 27 additions and 3 deletions
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apps/px4io/mixer.cpp
+27 -3
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@@ -47,11 +47,13 @@
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <sched.h>
#include <debug.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/device.h>
#include <systemlib/mixer/mixer.h>
@@ -72,6 +74,8 @@ bool mixer_servos_armed = false;
static uint16_t *control_values;
static int control_count;
static uint16_t rc_channel_data[PX4IO_CONTROL_CHANNELS];
static int mixer_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
@@ -89,7 +93,7 @@ mixer_tick(void)
/* too many frames without FMU input, time to go to failsafe */
system_state.mixer_manual_override = true;
system_state.mixer_fmu_available = false;
lib_lowprintf("RX timeout\n");
//lib_lowprintf("RX timeout\n");
}
/*
@@ -107,13 +111,32 @@ mixer_tick(void)
} else if (system_state.rc_channels > 0) {
/* when override is on or the fmu is not available, but RC is present */
control_count = system_state.rc_channels;
control_values = &system_state.rc_channel_data[0];
// Remap the channels based on the radio type.
// FMU: Roll, Pitch, Yaw, Throttle
// Graupner: Throttle, Roll, Pitch, Yaw
sched_lock();
rc_channel_data[0] = system_state.rc_channel_data[1];
rc_channel_data[1] = system_state.rc_channel_data[2];
rc_channel_data[2] = system_state.rc_channel_data[3];
rc_channel_data[3] = system_state.rc_channel_data[0];
// AETR
//rc_channel_data[0] = system_state.rc_channel_data[0];
//rc_channel_data[1] = system_state.rc_channel_data[1];
//rc_channel_data[2] = system_state.rc_channel_data[3];
//rc_channel_data[3] = system_state.rc_channel_data[2];
for (unsigned i = 4; i < system_state.rc_channels; i++) {
rc_channel_data[i] = system_state.rc_channel_data[i];
}
control_values = &rc_channel_data[0];
sched_unlock();
} else {
/* we have no control input (no FMU, no RC) */
// XXX builtin failsafe would activate here
control_count = 0;
}
//lib_lowprintf("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
/* this is for multicopters, etc. where manual override does not make sense */
} else {
@@ -151,8 +174,9 @@ mixer_tick(void)
/*
* If we are armed, update the servo output.
*/
if (system_state.armed && system_state.arm_ok)
if (system_state.armed && system_state.arm_ok) {
up_pwm_servo_set(i, system_state.servos[i]);
}
}
}