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RC_Channel: Add an accessor for a channels range and type

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Michael du Breuil 2018-09-01 17:01:11 -07:00 committed by Andrew Tridgell
parent ee96c53844
commit 20c56f3e06
1 changed files with 9 additions and 4 deletions
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13
libraries/RC_Channel/RC_Channel.h
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@ -5,9 +5,6 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#define RC_CHANNEL_TYPE_ANGLE 0
#define RC_CHANNEL_TYPE_RANGE 1
#define NUM_RC_CHANNELS 16 #define NUM_RC_CHANNELS 16
/// @class RC_Channel /// @class RC_Channel
@ -31,8 +28,14 @@ public:
RC_IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides RC_IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
}; };
enum ChannelType {
RC_CHANNEL_TYPE_ANGLE = 0,
RC_CHANNEL_TYPE_RANGE = 1,
};
// setup the control preferences // setup the control preferences
void set_range(uint16_t high); void set_range(uint16_t high);
uint16_t get_range() const { return high_in; }
void set_angle(uint16_t angle); void set_angle(uint16_t angle);
bool get_reverse(void) const; bool get_reverse(void) const;
void set_default_dead_zone(int16_t dzone); void set_default_dead_zone(int16_t dzone);
@ -98,6 +101,8 @@ public:
// set and save trim if changed // set and save trim if changed
void set_and_save_radio_trim(int16_t val) { radio_trim.set_and_save_ifchanged(val);} void set_and_save_radio_trim(int16_t val) { radio_trim.set_and_save_ifchanged(val);}
ChannelType get_type(void) const { return type_in; }
AP_Int16 option; // e.g. activate EPM gripper / enable fence AP_Int16 option; // e.g. activate EPM gripper / enable fence
// auxillary switch support: // auxillary switch support:
@ -209,7 +214,7 @@ private:
AP_Int8 reversed; AP_Int8 reversed;
AP_Int16 dead_zone; AP_Int16 dead_zone;
uint8_t type_in; ChannelType type_in;
int16_t high_in; int16_t high_in;
// the input channel this corresponds to // the input channel this corresponds to