Support 18 channels correctly on FMU

src/drivers/drv_rc_input.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/modules/sensors/sensor_params.c

@@ -190,6 +190,24 @@ PARAM_DEFINE_FLOAT(RC15_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC15_REV, 1.0f);
 PARAM_DEFINE_FLOAT(RC15_DZ, 0.0f);
 
+PARAM_DEFINE_FLOAT(RC16_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC16_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC16_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC16_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC16_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC17_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC17_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC17_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC17_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC17_DZ, 0.0f);
+
+PARAM_DEFINE_FLOAT(RC18_MIN, 1000);
+PARAM_DEFINE_FLOAT(RC18_TRIM, 1500);
+PARAM_DEFINE_FLOAT(RC18_MAX, 2000);
+PARAM_DEFINE_FLOAT(RC18_REV, 1.0f);
+PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f);
+
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
 #endif

src/modules/sensors/sensors.cpp

@@ -165,7 +165,7 @@ public:
 	int		start();
 
 private:
-	static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX;	/**< maximum number of r/c channels we handle */
+	static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS;	/**< maximum number of r/c channels we handle */
 
 	hrt_abstime	_rc_last_valid;		/**< last time we got a valid RC signal */
 
@@ -602,7 +602,7 @@ Sensors::parameters_update()
 	float tmpRevFactor = 0.0f;
 
 	/* rc values */
-	for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) {
+	for (unsigned int i = 0; i < _rc_max_chan_count; i++) {
 
 		param_get(_parameter_handles.min[i], &(_parameters.min[i]));
 		param_get(_parameter_handles.trim[i], &(_parameters.trim[i]));

src/modules/systemlib/rc_check.c

@@ -45,7 +45,7 @@
 #include <systemlib/rc_check.h>
 #include <systemlib/param/param.h>
 #include <mavlink/mavlink_log.h>
-#include <uORB/topics/rc_channels.h>
+#include <drivers/drv_rc_input.h>
 
 int rc_calibration_check(int mavlink_fd) {
 
@@ -66,7 +66,7 @@ int rc_calibration_check(int mavlink_fd) {
 
 	int channel_fail_count = 0;
 
-	for (int i = 0; i < RC_CHANNELS_MAX; i++) {
+	for (int i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
 		/* should the channel be enabled? */
 		uint8_t count = 0;
 

src/modules/uORB/topics/rc_channels.h

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
- *           @author Ivan Ovinnikov <oivan@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -47,13 +44,13 @@
 
 /**
  * The number of RC channel inputs supported.
- * Current (Q1/2013) radios support up to 18 channels,
+ * Current (Q4/2013) radios support up to 18 channels,
  * leaving at a sane value of 15.
  * This number can be greater then number of RC channels,
  * because single RC channel can be mapped to multiple
  * functions, e.g. for various mode switches.
  */
-#define RC_CHANNELS_MAX   15
+#define RC_CHANNELS_MAPPED_MAX   15
 
 /** 
  * This defines the mapping of the RC functions.
@@ -91,7 +88,7 @@ struct rc_channels_s {
   uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
   struct {
     float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-  } chan[RC_CHANNELS_MAX];
+  } chan[RC_CHANNELS_MAPPED_MAX];
   uint8_t chan_count;                 /**< number of valid channels */
 
   /*String array to store the names of the functions*/