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RC_Channel: removed global rc_ch[] array

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hide it as a object static instead
This commit is contained in:
Andrew Tridgell 2013-06-03 15:11:17 +10:00
parent 213eaa8db6
commit 0438952a8b
2 changed files with 6 additions and 1 deletions
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2
libraries/RC_Channel/RC_Channel.cpp
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@ -24,7 +24,7 @@ extern const AP_HAL::HAL& hal;
/// global array with pointers to all APM RC channels, will be used by AP_Mount /// global array with pointers to all APM RC channels, will be used by AP_Mount
/// and AP_Camera classes / It points to RC input channels, both APM1 and APM2 /// and AP_Camera classes / It points to RC input channels, both APM1 and APM2
/// only have 8 input channels. /// only have 8 input channels.
RC_Channel* rc_ch[NUM_CHANNELS]; RC_Channel *RC_Channel::rc_ch[NUM_CHANNELS];
const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = { const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
// @Param: MIN // @Param: MIN

5
libraries/RC_Channel/RC_Channel.h
View File

@ -30,6 +30,7 @@ public:
_high(1), _high(1),
_ch_out(ch_out) { _ch_out(ch_out) {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
rc_ch[ch_out] = this;
} }
// setup min and max radio values in CLI // setup min and max radio values in CLI
@ -100,6 +101,8 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
static RC_Channel *rc_channel(uint8_t i) { return rc_ch[i]; }
private: private:
AP_Int8 _reverse; AP_Int8 _reverse;
AP_Int16 _dead_zone; AP_Int16 _dead_zone;
@ -109,6 +112,8 @@ private:
int16_t _high_out; int16_t _high_out;
int16_t _low_out; int16_t _low_out;
uint8_t _ch_out; uint8_t _ch_out;
static RC_Channel *rc_ch[8];
}; };
// This is ugly, but it fixes poorly architected library // This is ugly, but it fixes poorly architected library