From 0ae76aff32c43fda9c2339287837fc4ac4ecabd5 Mon Sep 17 00:00:00 2001
From: Larry Wang <wxiaodong@gmail.com>
Date: Thu, 7 Sep 2017 22:09:53 -0700
Subject: [PATCH] updated to use rc driver from PX4, instead of from FC addons
(#7798)
* updated to use rc driver from PX4, instead of from FC addons
* fixed format
* update per comments
* fix format
* fix format
* remove duplicated __PX4_QURT
---
cmake/configs/qurt_sdflight_legacy.cmake | 3 ++-
posix-configs/eagle/200qx/px4.config | 32 +-----------------------
posix-configs/eagle/210qc/px4.config | 32 +-----------------------
posix-configs/excelsior/px4.config | 2 +-
src/drivers/spektrum_rc/spektrum_rc.cpp | 25 +++++++++++++++---
5 files changed, 26 insertions(+), 68 deletions(-)
diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake
index 25401b9d13..9a6eeb9aa3 100644
--- a/cmake/configs/qurt_sdflight_legacy.cmake
+++ b/cmake/configs/qurt_sdflight_legacy.cmake
@@ -70,12 +70,12 @@ set(config_module_list
#
drivers/gps
drivers/pwm_out_rc_in
+ drivers/spektrum_rc
drivers/qshell/qurt
#
# FC_ADDON drivers
#
- platforms/qurt/fc_addon/rc_receiver
platforms/qurt/fc_addon/uart_esc
#
@@ -91,6 +91,7 @@ set(config_module_list
lib/terrain_estimation
lib/runway_takeoff
lib/tailsitter_recovery
+ lib/rc
lib/version
lib/DriverFramework/framework
lib/micro-CDR
diff --git a/posix-configs/eagle/200qx/px4.config b/posix-configs/eagle/200qx/px4.config
index e267b7f121..53a29d4eef 100644
--- a/posix-configs/eagle/200qx/px4.config
+++ b/posix-configs/eagle/200qx/px4.config
@@ -14,36 +14,6 @@ param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.001
-param set RC_MAP_THROTTLE 1
-param set RC_MAP_ROLL 2
-param set RC_MAP_PITCH 3
-param set RC_MAP_YAW 4
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 6
-param set RC1_MAX 1900
-param set RC1_MIN 1099
-param set RC1_TRIM 1099
-param set RC1_REV 1
-param set RC2_MAX 1900
-param set RC2_MIN 1099
-param set RC2_TRIM 1500
-param set RC2_REV -1
-param set RC3_MAX 1900
-param set RC3_MIN 1099
-param set RC3_TRIM 1500
-param set RC3_REV 1
-param set RC4_MAX 1900
-param set RC4_MIN 1099
-param set RC4_TRIM 1500
-param set RC4_REV -1
-param set RC5_MAX 1900
-param set RC5_MIN 1099
-param set RC5_TRIM 1500
-param set RC5_REV 1
-param set RC6_MAX 1900
-param set RC6_MIN 1099
-param set RC6_TRIM 1099
-param set RC6_REV 1
param set ATT_W_MAG 0.00
param set SENS_BOARD_ROT 0
param set RC_RECEIVER_TYPE 1
@@ -65,7 +35,7 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
uart_esc start -D /dev/tty-2
-rc_receiver start -D /dev/tty-1
+spektrum_rc start -d /dev/tty-1
sleep 1
list_devices
list_files
diff --git a/posix-configs/eagle/210qc/px4.config b/posix-configs/eagle/210qc/px4.config
index e267b7f121..53a29d4eef 100644
--- a/posix-configs/eagle/210qc/px4.config
+++ b/posix-configs/eagle/210qc/px4.config
@@ -14,36 +14,6 @@ param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.08
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.001
-param set RC_MAP_THROTTLE 1
-param set RC_MAP_ROLL 2
-param set RC_MAP_PITCH 3
-param set RC_MAP_YAW 4
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 6
-param set RC1_MAX 1900
-param set RC1_MIN 1099
-param set RC1_TRIM 1099
-param set RC1_REV 1
-param set RC2_MAX 1900
-param set RC2_MIN 1099
-param set RC2_TRIM 1500
-param set RC2_REV -1
-param set RC3_MAX 1900
-param set RC3_MIN 1099
-param set RC3_TRIM 1500
-param set RC3_REV 1
-param set RC4_MAX 1900
-param set RC4_MIN 1099
-param set RC4_TRIM 1500
-param set RC4_REV -1
-param set RC5_MAX 1900
-param set RC5_MIN 1099
-param set RC5_TRIM 1500
-param set RC5_REV 1
-param set RC6_MAX 1900
-param set RC6_MIN 1099
-param set RC6_TRIM 1099
-param set RC6_REV 1
param set ATT_W_MAG 0.00
param set SENS_BOARD_ROT 0
param set RC_RECEIVER_TYPE 1
@@ -65,7 +35,7 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
uart_esc start -D /dev/tty-2
-rc_receiver start -D /dev/tty-1
+spektrum_rc start -d /dev/tty-1
sleep 1
list_devices
list_files
diff --git a/posix-configs/excelsior/px4.config b/posix-configs/excelsior/px4.config
index 58deeb98ce..bb00bd1997 100644
--- a/posix-configs/excelsior/px4.config
+++ b/posix-configs/excelsior/px4.config
@@ -84,7 +84,7 @@ land_detector start multicopter
mc_pos_control start
mc_att_control start
uart_esc start -D /dev/tty-1
-rc_receiver start -D /dev/tty-101
+spektrum_rc start -d /dev/tty-101
sleep 1
list_devices
list_files
diff --git a/src/drivers/spektrum_rc/spektrum_rc.cpp b/src/drivers/spektrum_rc/spektrum_rc.cpp
index e6921d06c8..899c31eea6 100644
--- a/src/drivers/spektrum_rc/spektrum_rc.cpp
+++ b/src/drivers/spektrum_rc/spektrum_rc.cpp
@@ -41,6 +41,7 @@
#include <px4_tasks.h>
#include <px4_posix.h>
+#include <px4_getopt.h>
#include <lib/rc/dsm.h>
#include <drivers/drv_rc_input.h>
@@ -76,7 +77,23 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
void task_main(int argc, char *argv[])
{
- int uart_fd = dsm_init(SPEKTRUM_UART_DEVICE_PATH);
+ const char *device_path = SPEKTRUM_UART_DEVICE_PATH;
+ int ch;
+ int myoptind = 1;
+ const char *myoptarg = NULL;
+
+ while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
+ switch (ch) {
+ case 'd':
+ device_path = myoptarg;
+ break;
+
+ default:
+ break;
+ }
+ }
+
+ int uart_fd = dsm_init(device_path);
if (uart_fd < 1) {
PX4_ERR("dsm init failed");
@@ -190,7 +207,7 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
input_rc.rc_total_frame_count = 0;
}
-int start()
+int start(int argc, char *argv[])
{
if (_is_running) {
PX4_WARN("already running");
@@ -206,7 +223,7 @@ int start()
SCHED_PRIORITY_DEFAULT,
2000,
(px4_main_t)&task_main,
- nullptr);
+ (char *const *)argv);
if (_task_handle < 0) {
PX4_ERR("task start failed");
@@ -263,7 +280,7 @@ int spektrum_rc_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
- return spektrum_rc::start();
+ return spektrum_rc::start(argc - 1, argv + 1);
}
else if (!strcmp(verb, "stop")) {
--
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