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Use AP_Var to store channel calibration.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1651 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2011-02-14 04:43:44 +00:00
parent 86fda84749
commit 1dd50ec263
2 changed files with 42 additions and 61 deletions
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31
libraries/RC_Channel/RC_Channel.cpp
View File

@ -79,14 +79,14 @@ RC_Channel::set_pwm(int pwm)
//Serial.print("range "); //Serial.print("range ");
control_in = pwm_to_range(); control_in = pwm_to_range();
control_in = (control_in < dead_zone) ? 0 : control_in; control_in = (control_in < dead_zone) ? 0 : control_in;
if(scale_output){ if (fabs(scale_output) > 0){
control_in *= scale_output; control_in *= scale_output;
} }
}else{ }else{
control_in = pwm_to_angle(); control_in = pwm_to_angle();
control_in = (abs(control_in) < dead_zone) ? 0 : control_in; control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
if(scale_output){ if (fabs(scale_output) > 0){
control_in *= scale_output; control_in *= scale_output;
} }
} }
@ -117,7 +117,7 @@ RC_Channel::calc_pwm(void)
pwm_out = angle_to_pwm(); pwm_out = angle_to_pwm();
radio_out = pwm_out + radio_trim; radio_out = pwm_out + radio_trim;
} }
radio_out = constrain(radio_out,radio_min, radio_max); radio_out = constrain(radio_out, radio_min.get(), radio_max.get());
} }
// ------------------------------------------ // ------------------------------------------
@ -125,32 +125,21 @@ RC_Channel::calc_pwm(void)
void void
RC_Channel::load_eeprom(void) RC_Channel::load_eeprom(void)
{ {
radio_min = eeprom_read_word((uint16_t *) _address); _group.load();
radio_max = eeprom_read_word((uint16_t *) (_address + 2));
radio_trim = eeprom_read_word((uint16_t *) (_address + 4));
//radio_min = _ee.read_int(_address);
//radio_max = _ee.read_int(_address + 2);
//radio_trim = _ee.read_int(_address + 4);
} }
void void
RC_Channel::save_eeprom(void) RC_Channel::save_eeprom(void)
{ {
eeprom_write_word((uint16_t *) _address, radio_min); _group.save();
eeprom_write_word((uint16_t *) (_address + 2), radio_max);
eeprom_write_word((uint16_t *) (_address + 4), radio_trim);
//_ee.write_int(_address, radio_min);
//_ee.write_int((_address + 2), radio_max);
//_ee.write_int((_address + 4), radio_trim);
} }
// ------------------------------------------ // ------------------------------------------
//XXX is this still in use?
void void
RC_Channel::save_trim(void) RC_Channel::save_trim(void)
{ {
eeprom_write_word((uint16_t *) (_address + 4), radio_trim); _group.save();
//_ee.write_int((_address + 4), radio_trim);
} }
// ------------------------------------------ // ------------------------------------------
@ -158,14 +147,14 @@ RC_Channel::save_trim(void)
void void
RC_Channel::zero_min_max() RC_Channel::zero_min_max()
{ {
radio_min = radio_min = radio_in; radio_min = radio_max = radio_in;
} }
void void
RC_Channel::update_min_max() RC_Channel::update_min_max()
{ {
radio_min = min(radio_min, radio_in); radio_min = min(radio_min.get(), radio_in);
radio_max = max(radio_max, radio_in); radio_max = max(radio_max.get(), radio_in);
} }
// ------------------------------------------ // ------------------------------------------

32
libraries/RC_Channel/RC_Channel.h
View File

@ -6,6 +6,7 @@
#ifndef RC_Channel_h #ifndef RC_Channel_h
#define RC_Channel_h #define RC_Channel_h
#include <AP_Common.h>
#include <stdint.h> #include <stdint.h>
/// @class RC_Channel /// @class RC_Channel
@ -14,23 +15,14 @@ class RC_Channel{
public: public:
/// Constructor /// Constructor
/// ///
/// A RC_Channel constructed in this fashion does not support save/restore. /// @param key EEPROM storage key for the channel trim parameters.
/// @param name Optional name for the group.
/// ///
RC_Channel() : RC_Channel(AP_Var::Key key, const prog_char *name) :
_address(0), _group(key, name),
_reverse(1), radio_min (&_group, 0, 1500, name ? "MIN" : 0), // suppress name if group has no name
dead_zone(0), radio_trim(&_group, 1, 1500, name ? "TRIM" : 0),
scale_output(1.0) radio_max (&_group, 2, 1500, name ? "MAX" : 0),
{}
/// Constructor
///
/// @param address EEPROM base address at which RC_Channel parameters
/// are stored. Zero if the RC_Channel does not support
/// save/restore.
///
RC_Channel(uint16_t address) :
_address(address),
_high(1), _high(1),
_filter(true), _filter(true),
_reverse(1), _reverse(1),
@ -82,9 +74,9 @@ class RC_Channel{
int16_t pwm_out; int16_t pwm_out;
int16_t radio_out; int16_t radio_out;
int16_t radio_min; AP_Int16 radio_min;
int16_t radio_trim; AP_Int16 radio_trim;
int16_t radio_max; AP_Int16 radio_max;
// includes offset from PWM // includes offset from PWM
//int16_t get_radio_out(void); //int16_t get_radio_out(void);
@ -99,10 +91,10 @@ class RC_Channel{
float scale_output; float scale_output;
private: private:
AP_Var_group _group;
bool _filter; bool _filter;
int8_t _reverse; int8_t _reverse;
int16_t _address; ///< EEPROM address for save/restore of P/I/D
bool _type; bool _type;
int16_t _high; int16_t _high;
int16_t _low; int16_t _low;