mirror of https://github.com/ArduPilot/ardupilot
Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ?
This commit is contained in:
Amilcar Lucas
parent
c5fd792024
commit
213969202a
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@ -39,6 +39,7 @@ version 2.1 of the License, or (at your option) any later version.
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#include <AP_DCM.h> // ArduPilot Mega DCM Library
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#include <PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <../libraries/RC_Channel/RC_Channel_aux.h> // Auxiliary RC Channel Library (Channels 5..8)
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#include <AP_RangeFinder.h> // Range finder library
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#include <ModeFilter.h>
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#include <AP_Camera.h> // Photo or video camera
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@ -1,7 +1,7 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <AP_Camera.h>
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#include <RC_Channel.h>
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#include <../RC_Channel/RC_Channel_aux.h>
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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extern long wp_distance;
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@ -1,5 +1,7 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <AP_Mount.h>
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#include <RC_Channel.h>
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#include <../RC_Channel/RC_Channel_aux.h>
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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@ -11,7 +11,6 @@
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#include <math.h>
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#include <avr/eeprom.h>
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#include <APM_RC.h>
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#include "WProgram.h"
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#include "RC_Channel.h"
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@ -219,68 +218,3 @@ RC_Channel::norm_output()
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else
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return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
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}
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int16_t
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RC_Channel_aux::closest_limit(int16_t angle)
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{
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// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
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int16_t min = angle_min / 10;
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int16_t max = angle_max / 10;
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// Make sure the angle lies in the interval [-180 .. 180[ degrees
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while (angle < -1800) angle += 3600;
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while (angle >= 1800) angle -= 3600;
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// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
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while (min < -1800) min += 3600;
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while (min >= 1800) min -= 3600;
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while (max < -1800) max += 3600;
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while (max >= 1800) max -= 3600;
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set_range(min, max);
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// If the angle is outside servo limits, saturate the angle to the closest limit
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// On a circle the closest angular position must be carefully calculated to account for wrap-around
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if ((angle < min) && (angle > max)){
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// angle error if min limit is used
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int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
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// angle error if max limit is used
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int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
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angle = err_min<err_max?min:max;
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}
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servo_out = angle;
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// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
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calc_pwm();
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return angle;
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}
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// map a function to a servo channel and output it
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void
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RC_Channel_aux::output_ch(unsigned char ch_nr)
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{
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switch(function)
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{
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case k_none: // disabled
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return;
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break;
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case k_manual: // manual
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radio_out = radio_in;
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break;
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case k_flap: // flaps
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case k_flap_auto: // flaps automated
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case k_aileron: // aileron
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case k_flaperon: // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
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case k_mount_yaw: // mount yaw (pan)
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case k_mount_pitch: // mount pitch (tilt)
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case k_mount_roll: // mount roll
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case k_cam_trigger: // camera trigger
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case k_cam_open: // camera open
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case k_egg_drop: // egg drop
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case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
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default:
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break;
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}
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APM_RC.OutputCh(ch_nr, radio_out);
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}
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@ -7,8 +7,6 @@
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#define RC_Channel_h
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#include <AP_Common.h>
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// TODO is this include really necessary ?
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#include <stdint.h>
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/// @class RC_Channel
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/// @brief Object managing one RC channel
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@ -104,57 +102,4 @@ class RC_Channel{
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int16_t _low;
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};
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/// @class RC_Channel_aux
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/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
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/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
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class RC_Channel_aux : public RC_Channel{
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public:
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/// Constructor
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///
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/// @param key EEPROM storage key for the channel trim parameters.
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/// @param name Optional name for the group.
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///
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RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
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RC_Channel(key, name),
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function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0), // suppress name if group has no name
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angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection
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angle_max (&_group, 6, 4500, name ? PSTR("ANGLE_MAX") : 0) // assume 45 degrees max deflection
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{}
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typedef enum
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{
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k_none = 0, // disabled
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k_manual = 1, // manual, just pass-thru the RC in signal
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k_flap = 2, // flap
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k_flap_auto = 3, // flap automated
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k_aileron = 4, // aileron
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k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
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k_mount_yaw = 6, // mount yaw (pan)
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k_mount_pitch = 7, // mount pitch (tilt)
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k_mount_roll = 8, // mount roll
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k_cam_trigger = 9, // camera trigger
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k_cam_open = 10, // camera open
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k_egg_drop = 11, // egg drop
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k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
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} Aux_servo_function_t;
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// TODO It would be great if the "packed" attribute could be added to this somehow
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// It would probably save some memory. But it can only be added to enums and not to typedefs :(
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/*AP_VARDEF(Aux_servo_function_t, Aux_srv_func); // defines AP_Aux_srv_func
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AP_Aux_srv_func function;*/ // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
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AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
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AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units
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AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
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int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
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void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
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};
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#endif
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@ -0,0 +1,69 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <APM_RC.h>
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#include "RC_Channel_aux.h"
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int16_t
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RC_Channel_aux::closest_limit(int16_t angle)
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{
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// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
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int16_t min = angle_min / 10;
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int16_t max = angle_max / 10;
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// Make sure the angle lies in the interval [-180 .. 180[ degrees
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while (angle < -1800) angle += 3600;
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while (angle >= 1800) angle -= 3600;
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// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
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while (min < -1800) min += 3600;
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while (min >= 1800) min -= 3600;
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while (max < -1800) max += 3600;
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while (max >= 1800) max -= 3600;
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set_range(min, max);
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// If the angle is outside servo limits, saturate the angle to the closest limit
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// On a circle the closest angular position must be carefully calculated to account for wrap-around
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if ((angle < min) && (angle > max)){
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// angle error if min limit is used
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int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
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// angle error if max limit is used
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int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
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angle = err_min<err_max?min:max;
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}
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servo_out = angle;
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// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
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calc_pwm();
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return angle;
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}
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// map a function to a servo channel and output it
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void
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RC_Channel_aux::output_ch(unsigned char ch_nr)
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{
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switch(function)
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{
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case k_none: // disabled
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return;
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break;
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case k_manual: // manual
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radio_out = radio_in;
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break;
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case k_flap: // flaps
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case k_flap_auto: // flaps automated
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case k_aileron: // aileron
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case k_flaperon: // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
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case k_mount_yaw: // mount yaw (pan)
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case k_mount_pitch: // mount pitch (tilt)
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case k_mount_roll: // mount roll
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case k_cam_trigger: // camera trigger
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case k_cam_open: // camera open
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case k_egg_drop: // egg drop
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case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
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default:
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break;
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}
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APM_RC.OutputCh(ch_nr, radio_out);
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}
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@ -0,0 +1,56 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file RC_Channel_aux.h
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/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
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/// @author Amilcar Lucas
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#ifndef RC_CHANNEL_AUX_H_
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#define RC_CHANNEL_AUX_H_
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#include "RC_Channel.h"
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/// @class RC_Channel_aux
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/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
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/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
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class RC_Channel_aux : public RC_Channel{
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public:
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/// Constructor
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///
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/// @param key EEPROM storage key for the channel trim parameters.
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/// @param name Optional name for the group.
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///
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RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
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RC_Channel(key, name),
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function (&_group, 4, k_none, name ? PSTR("FUNCTION") : 0), // suppress name if group has no name
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angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection
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angle_max (&_group, 6, 4500, name ? PSTR("ANGLE_MAX") : 0) // assume 45 degrees max deflection
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{}
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typedef enum
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{
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k_none = 0, // disabled
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k_manual = 1, // manual, just pass-thru the RC in signal
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k_flap = 2, // flap
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k_flap_auto = 3, // flap automated
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k_aileron = 4, // aileron
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k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
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k_mount_yaw = 6, // mount yaw (pan)
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k_mount_pitch = 7, // mount pitch (tilt)
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k_mount_roll = 8, // mount roll
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k_cam_trigger = 9, // camera trigger
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k_cam_open = 10, // camera open
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k_egg_drop = 11, // egg drop
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k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
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} Aux_servo_function_t;
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AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
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AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units
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AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
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int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
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void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
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};
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#endif /* RC_CHANNEL_AUX_H_ */
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