Mantis: add RC hacks

This changes the way RC is handled for the Mantis:
- The RC values are re-written when arriving over MAVLink. They are
  rescaled from 0..4095 to 1000..2000 and the channel bits added to
  separate channels. This makes the downstream handling easier.
- Gimbal pitch is moved from Aux1 to Aux2 as that should be the default.
- Aux3 and Aux4 are used for the photo and video trigger.
- The speed button is used as the FLTMODE channel and set to switch
  between POSCTL and ALTCTL.

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -33,12 +33,13 @@ param set-default CBRK_SUPPLY_CHK 894281
 
 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_FLTMODE1 -1
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1  2
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE4 -1
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  6
+param set-default COM_FLTMODE6  1
 param set-default COM_RC_LOSS_T 3
 
 
@@ -146,7 +147,7 @@ param set-default MPC_Z_VEL_P 0.27
 # gimbal configuration
 param set-default MNT_MODE_IN 1
 param set-default MNT_MODE_OUT 1
-param set-default MNT_MAN_PITCH 1
+param set-default MNT_MAN_PITCH 2
 param set-default MNT_RC_IN_MODE 1
 param set-default MNT_RATE_PITCH 30
 
@@ -157,39 +158,10 @@ param set-default RC_MAP_THROTTLE   1
 param set-default RC_MAP_YAW        2
 param set-default RC_MAP_PITCH      3
 param set-default RC_MAP_ROLL       4
-param set-default RC_MAP_AUX1       5
-param set-default RC_MAP_FLTMODE    9
-
-param set-default RC1_DZ            10
-param set-default RC1_MAX           4095
-param set-default RC1_MIN           0
-param set-default RC1_REV           1
-param set-default RC1_TRIM          0
-param set-default RC2_DZ            10
-param set-default RC2_MAX           4095
-param set-default RC2_MIN           0
-param set-default RC2_REV           1
-param set-default RC2_TRIM          2047
-param set-default RC3_DZ            10
-param set-default RC3_MAX           4095
-param set-default RC3_MIN           0
-param set-default RC3_REV           1
-param set-default RC3_TRIM          2047
-param set-default RC4_DZ            10
-param set-default RC4_MAX           4095
-param set-default RC4_MIN           0
-param set-default RC4_REV           1
-param set-default RC4_TRIM          2047
-param set-default RC5_DZ            10
-param set-default RC5_MAX           4095
-param set-default RC5_MIN           0
-param set-default RC5_REV           1
-param set-default RC5_TRIM          2047
-param set-default RC7_DZ            10
-param set-default RC7_MAX           4095
-param set-default RC7_MIN           0
-param set-default RC7_REV           1
-param set-default RC7_TRIM          2048
+param set-default RC_MAP_AUX2       5
+param set-default RC_MAP_AUX3       10
+param set-default RC_MAP_AUX4       8
+param set-default RC_MAP_FLTMODE    6
 
 
 # optical flow

boards/atl/mantis-edu/src/board_config.h

@@ -64,6 +64,9 @@
 // Hacks for MAVLink RC button input
 #define ATL_MANTIS_RC_INPUT_HACKS
 
+// Hacks for MAVLink RC button input
+#define ATL_MANTIS_RC_INPUT_HACKS
+
 /*
  * ADC channels
  *

src/modules/mavlink/mavlink_receiver.cpp

@@ -1993,6 +1993,28 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 	rc.values[16] = man.chan17_raw;
 	rc.values[17] = man.chan18_raw;
 
+#if defined(ATL_MANTIS_RC_INPUT_HACKS)
+
+	// Sanity checking if the RC controller is really sending.
+	if (rc.values[5] == 2048 && rc.values[6] == 0 && (rc.values[8] & 0xff00) == 0x0C00) {
+		rc.values[0] = 1000 + (uint16_t)((float)rc.values[0] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
+		rc.values[1] = 1000 + (uint16_t)((float)rc.values[1] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
+		rc.values[2] = 1000 + (uint16_t)((float)rc.values[2] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
+		rc.values[3] = 1000 + (uint16_t)((float)rc.values[3] / 4095.f * 1000.f); // 0..4095 -> 1000..2000
+		rc.values[4] = 1000 + (uint16_t)((float)rc.values[4] / 4095.f * 1000.f); // 0..4095 -> 1000..2000 -> Aux 2
+		rc.values[5] = 1000 + rc.values[7] * 500; // Switch toggles from 0 to 2, we map it from 1000 to 2000
+		rc.values[6] = 1000 + (((rc.values[8] & 0x02) != 0) ? 1000 : 0); // Return button.
+		rc.values[7] = 1000 + (((rc.values[8] & 0x01) != 0) ? 1000 : 0); // Video record button. -> Aux4
+		rc.values[9] = 1000 + (((rc.values[8] & 0x10) != 0) ? 1000 : 0); // Photo record button. -> Aux3
+		rc.values[8] = rc.values[8] & 0x00ff; // Remove magic identifier.
+		// leave rc.values[10] as is 0..4095
+		//
+		// Note we are currently ignoring the stick buttons (sticks pressed down).
+		// They are on rc.values[8] & 0x20 and rc.values[8] & 0x40.
+	}
+
+#endif
+
 	// check how many channels are valid
 	for (int i = 17; i >= 0; i--) {
 		const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX

src/modules/rc_update/rc_update.cpp

@@ -638,6 +638,11 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
 	switches.transition_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get());
 	switches.gear_switch       = get_rc_sw2pos_position(rc_channels_s::FUNCTION_GEAR,       _param_rc_gear_th.get());
 
+#if defined(ATL_MANTIS_RC_INPUT_HACKS)
+	switches.photo_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_3, 0.5f);
+	switches.video_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_4, 0.5f);
+#endif
+
 	// last 2 switch updates identical (simple protection from bad RC data)
 	if (switches == _manual_switches_previous) {
 		const bool switches_changed = (switches != _manual_switches_last_publish);