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rc2param: min and max values

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This commit is contained in:
Thomas Gubler
2014-12-28 21:57:30 +01:00
parent e9b41528dc
commit ef8abfbf14
4 changed files with 12 additions and 4 deletions
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mavlink/include/mavlink/v1.0
+1 -1
Submodule mavlink/include/mavlink/v1.0 updated: 87350ba3d2...b5732d07ec
src/modules/mavlink/mavlink_parameters.cpp
+2
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@@ -154,6 +154,8 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
_rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0'; _rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0';
_rc_param_map.scale[i] = map_rc.scale; _rc_param_map.scale[i] = map_rc.scale;
_rc_param_map.value0[i] = map_rc.param_value0; _rc_param_map.value0[i] = map_rc.param_value0;
_rc_param_map.value_min[i] = map_rc.param_value_min;
_rc_param_map.value_max[i] = map_rc.param_value_max;
if (map_rc.param_index == -2) { // -2 means unset map if (map_rc.param_index == -2) { // -2 means unset map
_rc_param_map.valid[i] = false; _rc_param_map.valid[i] = false;
} else { } else {
src/modules/sensors/sensors.cpp
+7 -3
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@@ -1440,11 +1440,13 @@ Sensors::rc_parameter_map_poll(bool forced)
} }
warnx("rc to parameter map updated"); warnx("rc to parameter map updated");
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) { for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
warnx("\ti %d param_id %s scale %.3f value0 %.3f", warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
i, i,
_rc_parameter_map.param_id[i], _rc_parameter_map.param_id[i],
(double)_rc_parameter_map.scale[i], (double)_rc_parameter_map.scale[i],
(double)_rc_parameter_map.value0[i] (double)_rc_parameter_map.value0[i],
(double)_rc_parameter_map.value_min[i],
(double)_rc_parameter_map.value_max[i]
); );
} }
} }
@@ -1645,7 +1647,9 @@ Sensors::set_params_from_rc()
* maybe we need to introduce a more aggressive limit here */ * maybe we need to introduce a more aggressive limit here */
if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) { if (rc_val > param_rc_values[i] + FLT_EPSILON || rc_val < param_rc_values[i] - FLT_EPSILON) {
param_rc_values[i] = rc_val; param_rc_values[i] = rc_val;
float param_val = _rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val; float param_val = math::constrain(
_rc_parameter_map.value0[i] + _rc_parameter_map.scale[i] * rc_val,
_rc_parameter_map.value_min[i], _rc_parameter_map.value_max[i]);
param_set(_parameter_handles.rc_param[i], &param_val); param_set(_parameter_handles.rc_param[i], &param_val);
} }
} }
src/modules/uORB/topics/rc_parameter_map.h
+2
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@@ -63,6 +63,8 @@ struct rc_parameter_map_s {
char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1]; /**< corresponding param id, null terminated */ char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1]; /**< corresponding param id, null terminated */
float scale[RC_PARAM_MAP_NCHAN]; /** scale to map the RC input [-1, 1] to a parameter value */ float scale[RC_PARAM_MAP_NCHAN]; /** scale to map the RC input [-1, 1] to a parameter value */
float value0[RC_PARAM_MAP_NCHAN]; /** inital value around which the parameter value is changed */ float value0[RC_PARAM_MAP_NCHAN]; /** inital value around which the parameter value is changed */
float value_min[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */
float value_max[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */
}; };
/** /**