mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.5 KiB
C
70 lines
1.5 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_RcChannel.h
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/// @brief AP_RcChannel manager
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#ifndef AP_RCCHANNEL_H
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#define AP_RCCHANNEL_H
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#include <stdint.h>
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#include "../APM_RC/APM_RC.h"
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#include "../AP_Common/AP_Common.h"
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#include "../AP_Common/AP_Var.h"
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namespace apo {
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enum rcMode_t {
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RC_MODE_IN, RC_MODE_OUT, RC_MODE_INOUT
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};
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/// @class AP_RcChannel
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/// @brief Object managing one RC channel
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class AP_RcChannel: public AP_Var_group {
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public:
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/// Constructor
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AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Class & rc,
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const uint8_t & ch, const uint16_t & pwmMin,
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const uint16_t & pwmNeutral, const uint16_t & pwmMax,
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const rcMode_t & rcMode = RC_MODE_INOUT,
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const bool & reverse = false);
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// configuration
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AP_Uint8 _ch;AP_Uint16 _pwmMin;AP_Uint16 _pwmNeutral;AP_Uint16 _pwmMax;
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rcMode_t _rcMode;AP_Bool _reverse;
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// set
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void setUsingRadio();
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void setPwm(uint16_t pwm);
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void setPosition(float position);
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// get
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uint16_t getPwm() {
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return _pwm;
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}
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uint16_t getRadioPwm();
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float getPosition() {
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return _pwmToPosition(_pwm);
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}
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float getRadioPosition() {
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return _pwmToPosition(getRadioPwm());
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}
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private:
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// configuration
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APM_RC_Class & _rc;
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// internal states
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uint16_t _pwm; // this is the internal state, position is just created when needed
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// private methods
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uint16_t _positionToPwm(const float & position);
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float _pwmToPosition(const uint16_t & pwm);
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};
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} // apo
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#endif // AP_RCCHANNEL_H
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