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A lot more on calibration and RC checks. Needs more testing, but no known issues

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Lorenz Meier
2013-08-25 16:33:14 +02:00
parent 8df6acbfaf
commit e119bbb0f1
10 changed files with 246 additions and 141 deletions
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37
src/modules/sensors/sensors.cpp
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@@ -305,8 +305,6 @@ private:
int board_rotation;
int external_mag_rotation;
int rc_type;
int rc_map_roll;
int rc_map_pitch;
int rc_map_yaw;
@@ -342,9 +340,6 @@ private:
param_t max[_rc_max_chan_count];
param_t rev[_rc_max_chan_count];
param_t dz[_rc_max_chan_count];
param_t rc_type;
param_t rc_demix;
param_t gyro_offset[3];
param_t gyro_scale[3];
@@ -566,8 +561,6 @@ Sensors::Sensors() :
}
_parameter_handles.rc_type = param_find("RC_TYPE");
/* mandatory input switched, mapped to channels 1-4 per default */
_parameter_handles.rc_map_roll = param_find("RC_MAP_ROLL");
_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
@@ -692,11 +685,6 @@ Sensors::parameters_update()
if (!rc_valid)
warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
/* remote control type */
if (param_get(_parameter_handles.rc_type, &(_parameters.rc_type)) != OK) {
warnx("Failed getting remote control type");
}
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("Failed getting roll chan index");
@@ -738,26 +726,11 @@ Sensors::parameters_update()
// warnx("Failed getting offboard control mode sw chan index");
// }
if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
warnx("Failed getting mode aux 1 index");
}
if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
warnx("Failed getting mode aux 2 index");
}
if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
warnx("Failed getting mode aux 3 index");
}
if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
warnx("Failed getting mode aux 4 index");
}
if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
warnx("Failed getting mode aux 5 index");
}
param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2));
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_scale_roll, &(_parameters.rc_scale_roll));
param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));