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Added support for fc_addon drivers

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-05-05 11:37:14 -07:00
committed by Lorenz Meier
parent dea4c55897
commit 6f8f8279b7
8 changed files with 1300 additions and 101 deletions
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cmake/configs/qurt_eagle_legacy_driver_default.cmake
+6
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@@ -67,6 +67,12 @@ set(config_module_list
drivers/pwm_out_rc_in
drivers/qshell/qurt
#
# FC_ADDON drivers
#
#platforms/qurt/fc_addon/rc_receiver
#platforms/qurt/fc_addon/mpu_spi
#
# Libraries
#
cmake/configs/qurt_sdflight_default.cmake
-101
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@@ -1,101 +0,0 @@
include(qurt/px4_impl_qurt)
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
set(CONFIG_SHMEM "1")
set(config_generate_parameters_scope ALL)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_module_list
#
# Board support modules
#
drivers/device
modules/sensors
platforms/posix/drivers/df_mpu9250_wrapper
platforms/posix/drivers/df_bmp280_wrapper
platforms/posix/drivers/df_hmc5883_wrapper
platforms/posix/drivers/df_trone_wrapper
platforms/posix/drivers/df_isl29501_wrapper
#
# System commands
#
systemcmds/param
#
# Estimation modules (EKF/ SO3 / other filters)
#
#modules/attitude_estimator_ekf
modules/ekf_att_pos_estimator
modules/attitude_estimator_q
modules/position_estimator_inav
modules/ekf2
#
# Vehicle Control
#
modules/mc_att_control
modules/mc_pos_control
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/uORB
modules/commander
modules/land_detector
modules/load_mon
#
# PX4 drivers
#
drivers/gps
drivers/pwm_out_rc_in
drivers/qshell/qurt
#
# Libraries
#
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/geo
lib/ecl
lib/geo_lookup
lib/conversion
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
lib/DriverFramework/framework
#
# QuRT port
#
platforms/common
platforms/qurt/px4_layer
platforms/posix/work_queue
#
# sources for muorb over fastrpc
#
modules/muorb/adsp
)
set(config_df_driver_list
mpu9250
bmp280
hmc5883
trone
isl29501
)
src/platforms/qurt/fc_addon/mpu_spi/CMakeLists.txt
+70
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@@ -0,0 +1,70 @@
############################################################################
#
# Copyright (C) 2015 Mark Charlebois. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(TOOLS_ERROR_MSG
"The FC_ADDON must be installed and the environment variable FC_ADDON must be set"
"(e.g. export FC_ADDON=${HOME}/Qualcomm/addon)")
if ("$ENV{FC_ADDON}" STREQUAL "")
message(FATAL_ERROR ${TOOLS_ERROR_MSG})
else()
set(FC_ADDON $ENV{FC_ADDON})
endif()
add_library(libmpu9x50 SHARED IMPORTED GLOBAL)
set_target_properties(libmpu9x50 PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/libmpu9x50.so)
include_directories(
${FC_ADDON}/flight_controller/hexagon/inc
)
px4_add_module(
MODULE platforms__qurt__fc_addon__mpu_spi
MAIN mpu9x50
STACK_MAIN 1200
COMPILE_FLAGS
-Os -Weffc++
SRCS
mpu9x50_main.cpp
mpu9x50_params.c
DEPENDS
platforms__common
)
set(module_external_libraries
${module_external_libraries}
libmpu9x50
CACHE INTERNAL "module_external_libraries"
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
+664
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File diff suppressed because it is too large Load Diff
src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_params.c
+89
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@@ -0,0 +1,89 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mpu9x50_params.c
*
* Parameters defined by the mpu9x50 driver
*/
#include <px4_config.h>
#include <systemlib/param/param.h>
/**
* IMU Low pass filter enum value for Gyro
*
* Acceptable values:
*
* MPU9X50_GYRO_LPF_250HZ = 0,
* MPU9X50_GYRO_LPF_184HZ = 1,
* MPU9X50_GYRO_LPF_92HZ = 2,
* MPU9X50_GYRO_LPF_41HZ = 3,
* MPU9X50_GYRO_LPF_20HZ = 4 (default),
* MPU9X50_GYRO_LPF_10HZ = 5,
* MPU9X50_GYRO_LPF_5HZ = 6,
* MPU9X50_GYRO_LPF_3600HZ_NOLPF = 7,
*
* @group MPU9x50 Configuration
*/
PARAM_DEFINE_INT32(MPU_GYRO_LPF_ENUM, 4);
/**
* IMU Low pass filter enum value for Accelerometer
*
* Acceptable values:
*
* MPU9X50_ACC_LPF_460HZ = 0,
* MPU9X50_ACC_LPF_184HZ = 1,
* MPU9X50_ACC_LPF_92HZ = 2,
* MPU9X50_ACC_LPF_41HZ = 3,
* MPU9X50_ACC_LPF_20HZ = 4 (default),
* MPU9X50_ACC_LPF_10HZ = 5,
* MPU9X50_ACC_LPF_5HZ = 6,
* MPU9X50_ACC_LPF_460HZ_NOLPF = 7,
*
* @group MPU9x50 Configuration
*/
PARAM_DEFINE_INT32(MPU_ACC_LPF_ENUM, 4);
/**
* IMU sample rate in Hz
* acceptable values:
* MPU9x50_SAMPLE_RATE_100HZ = 0,
* MPU9x50_SAMPLE_RATE_200HZ,
* MPU9x50_SAMPLE_RATE_500HZ, (default)
* MPU9x50_SAMPLE_RATE_1000HZ,
*
* @group MPU9x50 Configuration
*/
PARAM_DEFINE_INT32(MPU_SAMPLE_RATE_ENUM, 2);
src/platforms/qurt/fc_addon/rc_receiver/CMakeLists.txt
+71
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@@ -0,0 +1,71 @@
############################################################################
#
# Copyright (c) 2016 Mark Charlebois. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name AtlFlight nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(TOOLS_ERROR_MSG
"The FC_ADDON must be installed and the environment variable FC_ADDON must be set"
"(e.g. export FC_ADDON=${HOME}/Qualcomm/addon)")
if ("$ENV{FC_ADDON}" STREQUAL "")
message(FATAL_ERROR ${TOOLS_ERROR_MSG})
else()
set(FC_ADDON $ENV{FC_ADDON})
endif()
include_directories(
${FC_ADDON}/flight_controller/hexagon/inc
)
add_library(librc_receiver SHARED IMPORTED GLOBAL)
set_target_properties(librc_receiver PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/librc_receiver.so)
px4_add_module(
MODULE platforms__qurt__fc_addon__rc_receiver
MAIN rc_receiver
STACK_MAIN 1200
COMPILE_FLAGS
-Os -Weffc++
SRCS
rc_receiver_main.cpp
rc_receiver_params.c
DEPENDS
platforms__common
)
set(module_external_libraries
${module_external_libraries}
librc_receiver
CACHE INTERNAL "module_external_libraries"
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/platforms/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp
+347
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@@ -0,0 +1,347 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_getopt.h>
#include <px4_tasks.h>
#include <px4_log.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_rc_input.h>
#ifdef __cplusplus
extern "C" {
#endif
#include <semaphore.h>
#include "rc_receiver_api.h"
#ifdef __cplusplus
}
#endif
/** driver 'main' command */
extern "C" { __EXPORT int rc_receiver_main(int argc, char *argv[]); }
#define MAX_LEN_DEV_PATH 32
namespace rc_receiver
{
/** Threshold value to detect rc receiver signal lost in millisecond */
#define SIGNAL_LOST_THRESHOLD_MS 500
/** serial device path that rc receiver is connected to */
static char _device[MAX_LEN_DEV_PATH];
/** flag indicating if rc_receiver module is running */
static bool _is_running = false;
/** flag indicating if task thread should exit */
static bool _task_should_exit = false;
/** handle to the task main thread */
static px4_task_t _task_handle = -1;
/** RC receiver type */
static enum RC_RECEIVER_TYPES _rc_receiver_type;
/** RC input channel value array accomondating up to RC_INPUT_MAX_CHANNELS */
static uint16_t rc_inputs[input_rc_s::RC_INPUT_MAX_CHANNELS];
/** rc_input uorb topic publication handle */
static orb_advert_t _input_rc_pub = nullptr;
/** rc_input uorb topic data */
static struct input_rc_s _rc_in;
/**< parameter update subscription */
static int _params_sub;
struct {
param_t rc_receiver_type;
} _params_handles; /**< parameter handles */
/** Print out the usage information */
static void usage();
/** mpu9x50 start measurement */
static void start();
/** mpu9x50 stop measurement */
static void stop();
/** task main trampoline function */
static void task_main_trampoline(int argc, char *argv[]);
/** mpu9x50 measurement thread primary entry point */
static void task_main(int argc, char *argv[]);
/** update all parameters */
static void parameters_update();
/** poll parameter update */
static void parameter_update_poll();
void parameters_update()
{
PX4_DEBUG("rc_receiver_parameters_update");
float v;
// accel params
if (param_get(_params_handles.rc_receiver_type, &v) == 0) {
_rc_receiver_type = (enum RC_RECEIVER_TYPES)v;
PX4_DEBUG("rc_receiver_parameters_update rc_receiver_type %f", v);
}
}
void parameters_init()
{
_params_handles.rc_receiver_type = param_find("RC_RECEIVER_TYPE");
parameters_update();
}
void parameter_update_poll()
{
bool updated;
/* Check if parameters have changed */
orb_check(_params_sub, &updated);
if (updated) {
struct parameter_update_s param_update;
orb_copy(ORB_ID(parameter_update), _params_sub, &param_update);
parameters_update();
}
}
void start()
{
ASSERT(_task_handle == -1);
/* start the task */
_task_handle = px4_task_spawn_cmd("rc_receiver_main",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX,
1500,
(px4_main_t)&task_main_trampoline,
nullptr);
if (_task_handle < 0) {
warn("task start failed");
return;
}
_is_running = true;
}
void stop()
{
// TODO - set thread exit signal to terminate the task main thread
_is_running = false;
_task_handle = -1;
}
void task_main_trampoline(int argc, char *argv[])
{
PX4_WARN("task_main_trampoline");
task_main(argc, argv);
}
void task_main(int argc, char *argv[])
{
PX4_WARN("enter rc_receiver task_main");
uint32_t fd;
// clear the rc_input report for topic advertise
memset(&_rc_in, 0, sizeof(struct input_rc_s));
_input_rc_pub = orb_advertise(ORB_ID(input_rc), &_rc_in);
if (_input_rc_pub == nullptr) {
PX4_WARN("failed to advertise input_rc uorb topic. Quit!");
return ;
}
// subscribe to parameter_update topic
_params_sub = orb_subscribe(ORB_ID(parameter_update));
// Open the RC receiver device on the specified serial port
fd = rc_receiver_open(_rc_receiver_type, _device);
if (fd <= 0) {
PX4_WARN("failed to open rc receiver type %d dev %s. Quit!",
_rc_receiver_type, _device);
return ;
}
// Continuously receive RC packet from serial device, until task is signaled
// to exit
uint32_t num_channels;
uint64_t ts = hrt_absolute_time();
int ret;
int counter = 0;
_rc_in.timestamp_last_signal = ts;
while (!_task_should_exit) {
// poll parameter update
parameter_update_poll();
// read RC packet from serial device in blocking mode.
num_channels = input_rc_s::RC_INPUT_MAX_CHANNELS;
ret = rc_receiver_get_packet(fd, rc_inputs, &num_channels);
ts = hrt_absolute_time();
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_QURT;
if (ret < 0) {
// enum RC_RECEIVER_ERRORS error_code = rc_receiver_get_last_error(fd);
// PX4_WARN("RC packet receiving timed out. error code %d", error_code);
uint64_t time_diff_us = ts - _rc_in.timestamp_last_signal;
if (time_diff_us > SIGNAL_LOST_THRESHOLD_MS * 1000) {
_rc_in.rc_lost = true;
if (++counter == 500) {
PX4_WARN("RC signal lost for %u ms", time_diff_us / 1000);
counter = 0;
}
} else {
continue;
}
}
// populate the input_rc_s structure
if (ret == 0) {
_rc_in.timestamp_publication = ts;
_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
_rc_in.channel_count = num_channels;
// TODO - need to add support for RSSI, failsafe mode
_rc_in.rssi = RC_INPUT_RSSI_MAX;
_rc_in.rc_failsafe = false;
_rc_in.rc_lost = false;
_rc_in.rc_lost_frame_count = 0;
_rc_in.rc_total_frame_count = 1;
}
for (uint32_t i = 0; i < num_channels; i++) {
// Scale the Spektrum DSM value to ppm encoding. This is for the
// consistency with PX4 which internally translates DSM to PPM.
// See modules/px4iofirmware/dsm.c for details
// NOTE: rc_receiver spektrum driver outputs the data in 10bit DSM
// format, so we need to double the channel value before the scaling
_rc_in.values[i] = ((((int)(rc_inputs[i]*2) - 1024) * 1000) / 1700) + 1500;
}
orb_publish(ORB_ID(input_rc), _input_rc_pub, &_rc_in);
}
rc_receiver_close(fd);
}
void usage()
{
PX4_WARN("missing command: try 'start', 'stop', 'status'");
PX4_WARN("options:");
PX4_WARN(" -D device");
}
} // namespace rc_receiver
int rc_receiver_main(int argc, char *argv[])
{
const char *device = NULL;
int ch;
int myoptind = 1;
const char *myoptarg = NULL;
/* jump over start/off/etc and look at options first */
while ((ch = px4_getopt(argc, argv, "D:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'D':
device = myoptarg;
break;
default:
rc_receiver::usage();
return 1;
}
}
// Check on required arguments
if (device == NULL || strlen(device) == 0) {
rc_receiver::usage();
return 1;
}
memset(rc_receiver::_device, 0, MAX_LEN_DEV_PATH);
strncpy(rc_receiver::_device, device, strlen(device));
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
if (rc_receiver::_is_running) {
PX4_WARN("rc_receiver already running");
return 1;
}
rc_receiver::start();
} else if (!strcmp(verb, "stop")) {
if (rc_receiver::_is_running) {
PX4_WARN("rc_receiver is not running");
return 1;
}
rc_receiver::stop();
} else if (!strcmp(verb, "status")) {
PX4_WARN("rc_receiver is %s", rc_receiver::_is_running ? "running" : "stopped");
return 0;
} else {
rc_receiver::usage();
return 1;
}
return 0;
}
src/platforms/qurt/fc_addon/rc_receiver/rc_receiver_params.c
+53
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@@ -0,0 +1,53 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file rc_receiver_params.c
*
* Parameters defined by the rc_receiver driver
*/
#include <px4_config.h>
#include <systemlib/param/param.h>
/**
* RC receiver type
*
* Acceptable values:
*
* - RC_RECEIVER_SPEKTRUM = 1,
* - RC_RECEIVER_LEMONRX = 2,
*
* @group RC Receiver Configuration
*/
PARAM_DEFINE_INT32(RC_RECEIVER_TYPE, 1);