Re: [Paparazzi-devel] Spektrum Receiver & patching main_ap.c/autopilot.h

[Felix Ruess]

rc_settings is a mechanism to change some variables (just like the normal settings mechanism via datalink) via some sliders on the RC. Is useful if you are the only one flying and want to adjust e.g. some gains in flight, but is otherwise rather limited...

On Thu, Jun 14, 2012 at 5:06 PM, Tilman Baumann <address@hidden> wrote:

I suppose that is all happening in
return ModeUpdate(pprz_mode, PPRZ_MODE_OF_PULSE(fbw_state->channels[RADIO_MODE]));
in sw/airborne/firmwares/fixedwing/main_ap.c: pprz_mode_update()

I like the idea. But at the same time I'm wondering how that could be done in a way that has any chance upstream.
How does rc_settings play into this? I don't quite understand how that works

On 13/06/12 23:47, Felix Ruess wrote:

Hi Gareth,

I removed the unused autopilot_process_radio_control

You should use fbw_state->channels[RADIO_MODE] instead of radio_control.values in the autopilot on fixedwing.

This is because we still support the old classix which has two processors:

* fbw (fly-by-wire that handles manual mode and actuators)

* ap (autopilot that handles the autonomous stuff).

The communication between the two "processes" is handled by inter_mcu and fbw_state is the data structure shared by both.

Cheers, Felix

On Wed, Jun 13, 2012 at 9:10 PM, Gareth Roberts <address@hidden> wrote:

Hi Tilman,

I think it's right but make sure you test it (a lot!) on the ground.

It wasn't right :)

Just double checked and the autopilot_process_radio_control, despite being defined, isn't used anywhere in the codebase.
I've altered main_ap.c to use the function instead of the #define ternary, but I'm not sure where to get the rc values.
I've pushed the change to the branch from the previous email.

Is the radio_control struct from radio_control.h a valid global to use? It's compiling but I'm not sure if it's right.

If someone who actually knows what they are doing could look at the patch, that would be great.
Tilman, I can check it properly tomorrow if you want to wait, or you can try and see if it works...

Cheers,
Gareth

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