ardupilot/libraries/RC_ChannelB/RC_ChannelB.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file RC_ChannelB.h
/// @brief RC_ChannelB manager, with EEPROM-backed storage of constants.
#ifndef RC_ChannelB_h
#define RC_ChannelB_h
#include <stdint.h>
/// @class RC_ChannelB
/// @brief Object managing one RC channel
class RC_ChannelB{
public:
/// Constructor
///
/// A RC_ChannelB constructed in this fashion does not support save/restore.
///
RC_ChannelB() :
_address(0)
{}
/// Constructor
///
/// @param address EEPROM base address at which RC_ChannelB parameters
/// are stored. Zero if the RC_ChannelB does not support
/// save/restore.
///
RC_ChannelB(uint16_t address) :
_address(address),
_high(1),
_filter(true)
{}
// setup min and max radio values in CLI
void update_min_max();
// startup
void load_eeprom(void);
void save_eeprom(void);
void save_trim(void);
void set_filter(bool filter);
// setup the control preferences
void set_range(int low, int high);
void set_angle(int angle);
void set_reverse(bool reverse);
// read input from APM_RC - create a control_in value
void set_pwm(int pwm);
// pwm is stored here
int16_t radio_in;
// call after first set_pwm
void trim();
// did our read come in 50µs below the min?
bool get_failsafe(void);
// value generated from PWM
int16_t control_in;
int16_t dead_zone; // used to keep noise down and create a dead zone.
int control_mix(float value);
// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
int16_t servo_out;
// generate PWM from servo_out value
void calc_pwm(void);
// PWM is without the offset from radio_min
int16_t pwm_out;
int16_t radio_out;
int16_t radio_min;
int16_t radio_trim;
int16_t radio_max;
// includes offset from PWM
//int16_t get_radio_out(void);
int16_t pwm_to_angle();
float norm_input();
float norm_output();
int16_t angle_to_pwm();
int16_t pwm_to_range();
int16_t range_to_pwm();
private:
bool _filter;
int8_t _reverse;
int16_t _address; ///< EEPROM address for save/restore of P/I/D
bool _type;
int16_t _high;
int16_t _low;
};
#endif