ardupilot/AntennaTracker/servos.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Tracker.h"
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/*
* Code to move pitch and yaw servos to attain a target heading or pitch
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*/
// init_servos - initialises the servos
void Tracker::init_servos()
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{
// setup antenna control PWM channels
channel_yaw.set_angle(g.yaw_range * 100/2); // yaw range is +/- (YAW_RANGE parameter/2) converted to centi-degrees
channel_pitch.set_angle((-g.pitch_min+g.pitch_max) * 100/2); // pitch range is +/- (PITCH_MIN/MAX parameters/2) converted to centi-degrees
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// move servos to mid position
channel_yaw.output_trim();
channel_pitch.output_trim();
// initialise output to servos
channel_yaw.calc_pwm();
channel_pitch.calc_pwm();
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yaw_servo_out_filt.set_cutoff_frequency(SERVO_OUT_FILT_HZ);
pitch_servo_out_filt.set_cutoff_frequency(SERVO_OUT_FILT_HZ);
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}
/**
update the pitch (elevation) servo. The aim is to drive the boards ahrs pitch to the
requested pitch, so the board (and therefore the antenna) will be pointing at the target
*/
void Tracker::update_pitch_servo(float pitch)
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{
switch ((enum ServoType)g.servo_pitch_type.get()) {
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case SERVO_TYPE_ONOFF:
update_pitch_onoff_servo(pitch);
break;
case SERVO_TYPE_CR:
update_pitch_cr_servo(pitch);
break;
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case SERVO_TYPE_POSITION:
default:
update_pitch_position_servo();
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break;
}
// convert servo_out to radio_out and send to servo
channel_pitch.calc_pwm();
channel_pitch.output();
}
/**
update the pitch (elevation) servo. The aim is to drive the boards ahrs pitch to the
requested pitch, so the board (and therefore the antenna) will be pointing at the target
*/
void Tracker::update_pitch_position_servo()
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{
int32_t pitch_min_cd = g.pitch_min*100;
int32_t pitch_max_cd = g.pitch_max*100;
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// Need to configure your servo so that increasing servo_out causes increase in pitch/elevation (ie pointing higher into the sky,
// above the horizon. On my antenna tracker this requires the pitch/elevation servo to be reversed
// param set RC2_REV -1
//
// The pitch servo (RC channel 2) is configured for servo_out of -9000-0-9000 servo_out,
// which will drive the servo from RC2_MIN to RC2_MAX usec pulse width.
// Therefore, you must set RC2_MIN and RC2_MAX so that your servo drives the antenna altitude between -90 to 90 exactly
// To drive my HS-645MG servos through their full 180 degrees of rotational range, I have to set:
// param set RC2_MAX 2540
// param set RC2_MIN 640
//
// You will also need to tune the pitch PID to suit your antenna and servos. I use:
// PITCH2SRV_P 0.100000
// PITCH2SRV_I 0.020000
// PITCH2SRV_D 0.000000
// PITCH2SRV_IMAX 4000.000000
// calculate new servo position
g.pidPitch2Srv.set_input_filter_all(nav_status.angle_error_pitch);
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int32_t new_servo_out = channel_pitch.get_servo_out() + g.pidPitch2Srv.get_pid();
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// position limit pitch servo
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if (new_servo_out <= pitch_min_cd) {
new_servo_out = pitch_min_cd;
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g.pidPitch2Srv.reset_I();
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}
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if (new_servo_out >= pitch_max_cd) {
new_servo_out = pitch_max_cd;
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g.pidPitch2Srv.reset_I();
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}
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// rate limit pitch servo
channel_pitch.set_servo_out(new_servo_out);
if (pitch_servo_out_filt_init) {
pitch_servo_out_filt.apply(new_servo_out, G_Dt);
} else {
pitch_servo_out_filt.reset(new_servo_out);
pitch_servo_out_filt_init = true;
}
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}
/**
update the pitch (elevation) servo. The aim is to drive the boards ahrs pitch to the
requested pitch, so the board (and therefore the antenna) will be pointing at the target
*/
void Tracker::update_pitch_onoff_servo(float pitch)
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{
int32_t pitch_min_cd = g.pitch_min*100;
int32_t pitch_max_cd = g.pitch_max*100;
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float acceptable_error = g.onoff_pitch_rate * g.onoff_pitch_mintime;
if (fabsf(nav_status.angle_error_pitch) < acceptable_error) {
AntennaTracker: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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channel_pitch.set_servo_out(0);
} else if ((nav_status.angle_error_pitch > 0) && (pitch*100>pitch_min_cd)) {
// positive error means we are pointing too low, so push the
// servo up
AntennaTracker: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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channel_pitch.set_servo_out(-9000);
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} else if (pitch*100<pitch_max_cd) {
// negative error means we are pointing too high, so push the
// servo down
AntennaTracker: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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channel_pitch.set_servo_out(9000);
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}
}
/**
update the pitch for continuous rotation servo
*/
void Tracker::update_pitch_cr_servo(float pitch)
{
int32_t pitch_min_cd = g.pitch_min*100;
int32_t pitch_max_cd = g.pitch_max*100;
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if ((pitch>pitch_min_cd) && (pitch<pitch_max_cd)) {
g.pidPitch2Srv.set_input_filter_all(nav_status.angle_error_pitch);
channel_pitch.set_servo_out(g.pidPitch2Srv.get_pid());
}
}
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/**
update the yaw (azimuth) servo.
*/
void Tracker::update_yaw_servo(float yaw)
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{
switch ((enum ServoType)g.servo_yaw_type.get()) {
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case SERVO_TYPE_ONOFF:
update_yaw_onoff_servo(yaw);
break;
case SERVO_TYPE_CR:
update_yaw_cr_servo(yaw);
break;
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case SERVO_TYPE_POSITION:
default:
update_yaw_position_servo();
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break;
}
// convert servo_out to radio_out and send to servo
channel_yaw.calc_pwm();
channel_yaw.output();
}
/**
update the yaw (azimuth) servo. The aim is to drive the boards ahrs
yaw to the requested yaw, so the board (and therefore the antenna)
will be pointing at the target
*/
void Tracker::update_yaw_position_servo()
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{
int32_t yaw_limit_cd = g.yaw_range*100/2;
// Antenna as Ballerina. Use with antenna that do not have continuously rotating servos, ie at some point in rotation
// the servo limits are reached and the servo has to slew 360 degrees to the 'other side' to keep tracking.
//
// This algorithm accounts for the fact that the antenna mount may not be aligned with North
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// (in fact, any alignment is permissible), and that the alignment may change (possibly rapidly) over time
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// (as when the antenna is mounted on a moving, turning vehicle)
//
// With my antenna mount, large pwm output drives the antenna anticlockise, so need:
// param set RC1_REV -1
// to reverse the servo. Yours may be different
//
// You MUST set RC1_MIN and RC1_MAX so that your servo drives the antenna azimuth from -180 to 180 relative
// to the mount.
// To drive my HS-645MG servos through their full 180 degrees of rotational range and therefore the
// antenna through a full 360 degrees, I have to set:
// param set RC1_MAX 2380
// param set RC1_MIN 680
// According to the specs at https://www.servocity.com/html/hs-645mg_ultra_torque.html,
// that should be 600 through 2400, but the azimuth gearing in my antenna pointer is not exactly 2:1
/*
a positive error means that we need to rotate clockwise
a negative error means that we need to rotate counter-clockwise
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Use our current yawspeed to determine if we are moving in the
right direction
*/
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g.pidYaw2Srv.set_input_filter_all(nav_status.angle_error_yaw);
float servo_change = g.pidYaw2Srv.get_pid();
servo_change = constrain_float(servo_change, -18000, 18000);
float new_servo_out = constrain_float(channel_yaw.get_servo_out() + servo_change, -18000, 18000);
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// position limit yaw servo
if (new_servo_out <= -yaw_limit_cd) {
new_servo_out = -yaw_limit_cd;
g.pidYaw2Srv.reset_I();
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}
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if (new_servo_out >= yaw_limit_cd) {
new_servo_out = yaw_limit_cd;
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g.pidYaw2Srv.reset_I();
}
AntennaTracker: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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channel_yaw.set_servo_out(new_servo_out);
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if(yaw_servo_out_filt_init){
yaw_servo_out_filt.apply(new_servo_out, G_Dt);
} else {
yaw_servo_out_filt.reset(new_servo_out);
yaw_servo_out_filt_init = true;
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}
}
/**
update the yaw (azimuth) servo. The aim is to drive the boards ahrs
yaw to the requested yaw, so the board (and therefore the antenna)
will be pointing at the target
*/
void Tracker::update_yaw_onoff_servo(float yaw)
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{
float acceptable_error = g.onoff_yaw_rate * g.onoff_yaw_mintime;
if (fabsf(nav_status.angle_error_yaw * 0.01f) < acceptable_error) {
AntennaTracker: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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channel_yaw.set_servo_out(0);
} else if (nav_status.angle_error_yaw * 0.01f > 0) {
// positive error means we are counter-clockwise of the target, so
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// move clockwise
AntennaTracker: Fix up after refactoring RC_Channel class Further to refactor of RC_Channel class which included adding get_xx set_xx methods, change reads and writes to the public members to calls to get and set functionsss old public member(int16_t) get function -> int16_t set function (int16_t) (expression where c is an object of type RC_Channel) c.radio_in c.get_radio_in() c.set_radio_in(v) c.control_in c.get_control_in() c.set_control_in(v) c.servo_out c.get_servo_out() c.set_servo_out(v) c.pwm_out c.get_pwm_out() // use existing c.radio_out c.get_radio_out() c.set_radio_out(v) c.radio_max c.get_radio_max() c.set_radio_max(v) c.radio_min c.get_radio_min() c.set_radio_min(v) c.radio_trim c.get_radio_trim() c.set_radio_trim(v); c.min_max_configured() // return true if min and max are configured Because data members of RC_Channels are now private and so cannot be written directly some overloads are provided in the Plane classes to provide the old functionality new overload Plane::stick_mix_channel(RC_Channel *channel) which forwards to the previously existing void stick_mix_channel(RC_Channel *channel, int16_t &servo_out); new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const which forwards to (uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const; Rename functions RC_Channel_aux::set_radio_trim(Aux_servo_function_t function) to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function) RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value) to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value) Rationale: RC_Channel is a complicated class, which combines several functionalities dealing with stick inputs in pwm and logical units, logical and actual actuator outputs, unit conversion etc, etc The intent of this PR is to clarify existing use of the class. At the basic level it should now be possible to grep all places where private variable is set by searching for the set_xx function. (The wider purpose is to provide a more generic and logically simpler method of output mixing. This is a small step)
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channel_yaw.set_servo_out(18000);
} else {
// negative error means we are clockwise of the target, so
// move counter-clockwise
channel_yaw.set_servo_out(-18000);
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}
}
/**
update the yaw continuous rotation servo
*/
void Tracker::update_yaw_cr_servo(float yaw)
{
g.pidYaw2Srv.set_input_filter_all(nav_status.angle_error_yaw);
channel_yaw.set_servo_out(-g.pidYaw2Srv.get_pid());
}