Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: replace RC input params with RC options

Browse Source
This commit is contained in:
Randy Mackay 2022-08-30 16:30:10 +09:00
parent cc67d6f73c
commit 0d9526f1c5
3 changed files with 9 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
libraries/AP_Mount/AP_Mount.cpp
View File

@ -104,12 +104,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @User: Standard
AP_GROUPINFO("_STAB_PAN", 6, AP_Mount, state[0]._stab_pan, 0),
// @Param: _RC_IN_ROLL
// @DisplayName: roll RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control roll movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8,9:RC9,10:RC10,11:RC11,12:RC12
// @User: Standard
AP_GROUPINFO("_RC_IN_ROLL", 7, AP_Mount, state[0]._roll_rc_in, 0),
// 7 was _RC_IN_ROLL
// @Param: _ANGMIN_ROL
// @DisplayName: Minimum roll angle
@ -129,12 +124,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @User: Standard
AP_GROUPINFO("_ANGMAX_ROL", 9, AP_Mount, state[0]._roll_angle_max, 4500),
// @Param: _RC_IN_TILT
// @DisplayName: tilt (pitch) RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control tilt (pitch) movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8,9:RC9,10:RC10,11:RC11,12:RC12
// @User: Standard
AP_GROUPINFO("_RC_IN_TILT", 10, AP_Mount, state[0]._tilt_rc_in, 0),
// 10 was _RC_IN_TILT
// @Param: _ANGMIN_TIL
// @DisplayName: Minimum tilt angle
@ -154,12 +144,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @User: Standard
AP_GROUPINFO("_ANGMAX_TIL", 12, AP_Mount, state[0]._tilt_angle_max, 4500),
// @Param: _RC_IN_PAN
// @DisplayName: pan (yaw) RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control pan (yaw) movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8,9:RC9,10:RC10,11:RC11,12:RC12
// @User: Standard
AP_GROUPINFO("_RC_IN_PAN", 13, AP_Mount, state[0]._pan_rc_in, 0),
// 13 was _RC_IN_PAN
// @Param: _ANGMIN_PAN
// @DisplayName: Minimum pan angle
@ -299,12 +284,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @User: Standard
AP_GROUPINFO("2_STAB_PAN", 30, AP_Mount, state[1]._stab_pan, 0),
// @Param: 2_RC_IN_ROLL
// @DisplayName: Mount2's roll RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control roll movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8,9:RC9,10:RC10,11:RC11,12:RC12
// @User: Standard
AP_GROUPINFO("2_RC_IN_ROLL", 31, AP_Mount, state[1]._roll_rc_in, 0),
// 31 was 2_RC_IN_ROLL
// @Param: 2_ANGMIN_ROL
// @DisplayName: Mount2's minimum roll angle
@ -324,12 +304,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @User: Standard
AP_GROUPINFO("2_ANGMAX_ROL", 33, AP_Mount, state[1]._roll_angle_max, 4500),
// @Param: 2_RC_IN_TILT
// @DisplayName: Mount2's tilt (pitch) RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control tilt (pitch) movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8,9:RC9,10:RC10,11:RC11,12:RC12
// @User: Standard
AP_GROUPINFO("2_RC_IN_TILT", 34, AP_Mount, state[1]._tilt_rc_in, 0),
// 34 was 2_RC_IN_TILT
// @Param: 2_ANGMIN_TIL
// @DisplayName: Mount2's minimum tilt angle
@ -349,12 +324,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @User: Standard
AP_GROUPINFO("2_ANGMAX_TIL", 36, AP_Mount, state[1]._tilt_angle_max, 4500),
// @Param: 2_RC_IN_PAN
// @DisplayName: Mount2's pan (yaw) RC input channel
// @Description: 0 for none, any other for the RC channel to be used to control pan (yaw) movements
// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8,9:RC9,10:RC10,11:RC11,12:RC12
// @User: Standard
AP_GROUPINFO("2_RC_IN_PAN", 37, AP_Mount, state[1]._pan_rc_in, 0),
// 37 was 2_RC_IN_PAN
// @Param: 2_ANGMIN_PAN
// @DisplayName: Mount2's minimum pan angle

5
libraries/AP_Mount/AP_Mount.h
View File

@ -177,11 +177,6 @@ protected:
AP_Int8 _stab_tilt; // 1 = mount should stabilize earth-frame pitch axis
AP_Int8 _stab_pan; // 1 = mount should stabilize earth-frame yaw axis
// RC input channels from receiver used for direct angular input from pilot
AP_Int8 _roll_rc_in; // pilot provides roll input on this channel
AP_Int8 _tilt_rc_in; // pilot provides tilt input on this channel
AP_Int8 _pan_rc_in; // pilot provides pan input on this channel
// Mount's physical limits
AP_Int16 _roll_angle_min; // min roll in 0.01 degree units
AP_Int16 _roll_angle_max; // max roll in 0.01 degree units

6
libraries/AP_Mount/AP_Mount_Backend.cpp
View File

@ -208,9 +208,9 @@ bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavli
// get pilot input (in the range -1 to +1) received through RC
void AP_Mount_Backend::get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const
{
const RC_Channel *roll_ch = rc().channel(_state._roll_rc_in - 1);
const RC_Channel *pitch_ch = rc().channel(_state._tilt_rc_in - 1);
const RC_Channel *yaw_ch = rc().channel(_state._pan_rc_in - 1);
const RC_Channel *roll_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_ROLL : RC_Channel::AUX_FUNC::MOUNT2_ROLL);
const RC_Channel *pitch_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_PITCH : RC_Channel::AUX_FUNC::MOUNT2_PITCH);
const RC_Channel *yaw_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_YAW : RC_Channel::AUX_FUNC::MOUNT2_YAW);
roll_in = 0;
if ((roll_ch != nullptr) && (roll_ch->get_radio_in() > 0)) {