ardupilot/libraries/RC_Channel/RC_Channels.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* RC_Channels.cpp - class containing an array of RC_Channel objects
*
*/
#include <stdlib.h>
#include <cmath>
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
#include <AP_Math/AP_Math.h>
#include "RC_Channel.h"
RC_Channel *RC_Channels::channels;
const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @Group: 1_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_Channels, RC_Channel),
// @Group: 2_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_Channels, RC_Channel),
// @Group: 3_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_Channels, RC_Channel),
// @Group: 4_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_Channels, RC_Channel),
// @Group: 5_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_Channels, RC_Channel),
// @Group: 6_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_Channels, RC_Channel),
// @Group: 7_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_Channels, RC_Channel),
// @Group: 8_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_Channels, RC_Channel),
// @Group: 9_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_Channels, RC_Channel),
// @Group: 10_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels, RC_Channel),
// @Group: 11_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels, RC_Channel),
// @Group: 12_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels, RC_Channel),
// @Group: 13_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels, RC_Channel),
// @Group: 14_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels, RC_Channel),
// @Group: 15_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels, RC_Channel),
// @Group: 16_
// @Path: RC_Channel.cpp
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels, RC_Channel),
AP_GROUPEND
};
/*
channels group object constructor
*/
RC_Channels::RC_Channels(void)
{
channels = obj_channels;
// set defaults from the parameter table
AP_Param::setup_object_defaults(this, var_info);
// setup ch_in on channels
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
channels[i].ch_in = i;
}
}
/*
call read() and set_pwm() on all channels
*/
void
RC_Channels::set_pwm_all(void)
{
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
channels[i].set_pwm(channels[i].read());
}
}