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Added AP_RcChannel_Scaled to APO

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This commit is contained in:
James Goppert 2011-10-03 12:42:27 -04:00
parent 69de071281
commit 0fc595d528
8 changed files with 89 additions and 52 deletions
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6
ArduBoat/ControllerBoat.h
View File

@ -42,13 +42,13 @@ public:
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
1500, 1900));
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
1900));
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900));
1900, RC_MODE_INOUT, false));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();

6
ArduRover/ControllerCar.h
View File

@ -42,13 +42,13 @@ public:
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
1500, 1900));
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
1900));
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900));
1900, RC_MODE_INOUT, false));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();

10
ArduRover/ControllerTank.h
View File

@ -42,19 +42,19 @@ public:
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_OUT));
1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_OUT));
1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500,
1900, RC_MODE_IN));
1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
1900, RC_MODE_IN));
1900, RC_MODE_IN, false));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();

10
apo/ControllerPlane.h
View File

@ -87,19 +87,19 @@ public:
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("mode_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("roll_"), APM_RC, 0, 1200,
1500, 1800, RC_MODE_INOUT));
1500, 1800, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("pitch_"), APM_RC, 1, 1200,
1500, 1800, RC_MODE_INOUT));
1500, 1800, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("thr_"), APM_RC, 2, 1100, 1100,
1900, RC_MODE_INOUT));
1900, RC_MODE_INOUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("yaw_"), APM_RC, 3, 1200, 1500,
1800, RC_MODE_INOUT));
1800, RC_MODE_INOUT, false));
}
virtual MAV_MODE getMode() {
return (MAV_MODE) _mode.get();

18
apo/ControllerQuad.h
View File

@ -82,31 +82,31 @@ public:
*/
_hal->rc.push_back(
new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
1500, 1900, RC_MODE_IN));
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100,
1100, 1900, RC_MODE_OUT));
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100,
1100, 1900, RC_MODE_OUT));
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chFront, PSTR("FRONT_"), APM_RC, 2, 1100,
1100, 1900, RC_MODE_OUT));
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chBack, PSTR("BACK_"), APM_RC, 3, 1100,
1100, 1900, RC_MODE_OUT));
1100, 1900, RC_MODE_OUT, false));
_hal->rc.push_back(
new AP_RcChannel(k_chRoll, PSTR("ROLL_"), APM_RC, 0, 1100,
1500, 1900, RC_MODE_IN));
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chPitch, PSTR("PITCH_"), APM_RC, 1, 1100,
1500, 1900, RC_MODE_IN));
1500, 1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 2, 1100, 1500,
1900, RC_MODE_IN));
1900, RC_MODE_IN, false));
_hal->rc.push_back(
new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 3, 1100,
1100, 1900, RC_MODE_IN));
1100, 1900, RC_MODE_IN, false));
}
virtual void update(const float & dt) {

18
libraries/APO/AP_MavlinkCommand.h
View File

@ -131,6 +131,7 @@ public:
return getX();
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_LOCAL_ENU:
case MAV_FRAME_MISSION:
default:
return 0;
@ -144,6 +145,7 @@ public:
setX(val);
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_LOCAL_ENU:
case MAV_FRAME_MISSION:
default:
break;
@ -156,6 +158,7 @@ public:
return getY();
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_LOCAL_ENU:
case MAV_FRAME_MISSION:
default:
return 0;
@ -169,6 +172,7 @@ public:
setY(val);
break;
case MAV_FRAME_LOCAL:
case MAV_FRAME_LOCAL_ENU:
case MAV_FRAME_MISSION:
default:
break;
@ -205,6 +209,9 @@ public:
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
return -getZ() + home.getAlt();
break;
case MAV_FRAME_LOCAL_ENU:
return getZ() + home.getAlt();
break;
case MAV_FRAME_MISSION:
@ -223,6 +230,9 @@ public:
setZ(val);
break;
case MAV_FRAME_LOCAL:
setZ(home.getLonDeg() - val);
break;
case MAV_FRAME_LOCAL_ENU:
setZ(val - home.getLonDeg());
break;
case MAV_FRAME_MISSION:
@ -241,6 +251,9 @@ public:
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
return -getZ();
break;
case MAV_FRAME_LOCAL_ENU:
return getZ();
break;
case MAV_FRAME_MISSION:
@ -250,7 +263,7 @@ public:
}
}
/**
* set the relative altitude in meters from home
* set the relative altitude in meters from home (up)
*/
void setRelAlt(float val) {
switch (getFrame()) {
@ -259,6 +272,9 @@ public:
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
case MAV_FRAME_LOCAL:
setZ(-val);
break;
case MAV_FRAME_LOCAL_ENU:
setZ(val);
break;
case MAV_FRAME_MISSION:

19
libraries/APO/AP_RcChannel.cpp
View File

@ -24,8 +24,9 @@ AP_RcChannel::AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name,
AP_Var_group(keyValue, name), _ch(this, 1, ch, PSTR("ch")),
_pwmMin(this, 2, pwmMin, PSTR("pMin")),
_pwmNeutral(this, 3, pwmNeutral, PSTR("pNtrl")),
_pwmMax(this, 4, pwmMax, PSTR("pMax")), _rcMode(rcMode),
_reverse(this, 5, reverse, PSTR("rev")), _rc(rc), _pwm(pwmNeutral) {
_pwmMax(this, 4, pwmMax, PSTR("pMax")),
_reverse(this, 5, reverse, PSTR("rev")),
_rcMode(rcMode), _rc(rc), _pwm(pwmNeutral) {
//Serial.print("pwm after ctor: "); Serial.println(pwmNeutral);
if (rcMode == RC_MODE_IN)
return;
@ -43,10 +44,6 @@ uint16_t AP_RcChannel::getRadioPwm() {
return _rc.InputCh(_ch);
}
void AP_RcChannel::setUsingRadio() {
setPwm(getRadioPwm());
}
void AP_RcChannel::setPwm(uint16_t pwm) {
//Serial.printf("pwm in setPwm: %d\n", pwm);
//Serial.printf("reverse: %s\n", (reverse)?"true":"false");
@ -69,14 +66,6 @@ void AP_RcChannel::setPwm(uint16_t pwm) {
_rc.OutputCh(_ch, _pwm);
}
void AP_RcChannel::setPosition(float position) {
if (position > 1.0)
position = 1.0;
else if (position < -1.0)
position = -1.0;
setPwm(_positionToPwm(position));
}
uint16_t AP_RcChannel::_positionToPwm(const float & position) {
uint16_t pwm;
//Serial.printf("position: %f\n", position);
@ -94,6 +83,8 @@ uint16_t AP_RcChannel::_positionToPwm(const float & position) {
float AP_RcChannel::_pwmToPosition(const uint16_t & pwm) {
float position;
// note a piece-wise linear mapping occurs if the pwm ranges
// are not symmetric about pwmNeutral
if (pwm < uint8_t(_pwmNeutral))
position = 1.0 * int16_t(pwm - _pwmNeutral) / int16_t(
_pwmNeutral - _pwmMin);

54
libraries/APO/AP_RcChannel.h
View File

@ -24,20 +24,20 @@ class AP_RcChannel: public AP_Var_group {
public:
/// Constructor
AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Class & rc,
AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name, APM_RC_Class & rc,
const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode = RC_MODE_INOUT,
const bool & reverse = false);
const rcMode_t & rcMode,
const bool & reverse);
// configuration
AP_Uint8 _ch;AP_Uint16 _pwmMin;AP_Uint16 _pwmNeutral;AP_Uint16 _pwmMax;
rcMode_t _rcMode;AP_Bool _reverse;
// set
void setUsingRadio();
void setPwm(uint16_t pwm);
void setPosition(float position);
AP_Uint8 _ch;
AP_Uint16 _pwmMin;
AP_Uint16 _pwmNeutral;
AP_Uint16 _pwmMax;
AP_Uint8 _deg2mPwm;
rcMode_t _rcMode;
AP_Bool _reverse;
// get
uint16_t getPwm() {
@ -45,13 +45,22 @@ public:
}
uint16_t getRadioPwm();
float getPosition() {
return _pwmToPosition(_pwm);
return _pwmToPosition(getPwm());
}
float getRadioPosition() {
return _pwmToPosition(getRadioPwm());
}
private:
// set
void setUsingRadio() {
setPwm(getRadioPwm());
}
void setPwm(uint16_t pwm);
void setPosition(float position) {
setPwm(_positionToPwm(position));
}
protected:
// configuration
APM_RC_Class & _rc;
@ -64,6 +73,27 @@ private:
float _pwmToPosition(const uint16_t & pwm);
};
class AP_RcChannel_Scaled : public AP_RcChannel {
public:
AP_RcChannel_Scaled(AP_Var::Key keyValue, const prog_char_t * name, APM_RC_Class & rc,
const uint8_t & ch, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax,
const rcMode_t & rcMode,
const bool & reverse,
const float & scale) :
AP_RcChannel(keyValue,name,rc,ch,pwmMin,pwmNeutral,pwmMax,rcMode,reverse),
_scale(this, 6, pwmNeutral, PSTR("scale"))
{
}
AP_Float _scale;
void setScaled(float val) {
setPwm(val/_scale);
}
float getScaled() {
return _scale*getPwm();
}
};
} // apo
#endif // AP_RCCHANNEL_H