From 22d2f9ea155438b630540f61092fbbc189e2206d Mon Sep 17 00:00:00 2001 From: Amilcar Lucas Date: Wed, 18 Jul 2012 21:46:14 +0200 Subject: [PATCH] Support up to 7 aux servo outputs --- libraries/RC_Channel/RC_Channel_aux.cpp | 20 +++++++++++++++++--- libraries/RC_Channel/RC_Channel_aux.h | 2 +- 2 files changed, 18 insertions(+), 4 deletions(-) diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp index 17549a9623..1ad7134e29 100644 --- a/libraries/RC_Channel/RC_Channel_aux.cpp +++ b/libraries/RC_Channel/RC_Channel_aux.cpp @@ -129,15 +129,26 @@ RC_Channel_aux::output_ch(unsigned char ch_nr) /// This is to be done before rc_init so that the channels get correctly initialized. /// It also should be called periodically because the user might change the configuration and /// expects the changes to take effect instantly -void update_aux_servo_function(RC_Channel_aux* rc_a, RC_Channel_aux* rc_b, RC_Channel_aux* rc_c, RC_Channel_aux* rc_d) +/// Supports up to seven aux servo outputs (typically CH5 ... CH11) +/// All servos must be configured with a single call to this function +void update_aux_servo_function( RC_Channel_aux* rc_a, + RC_Channel_aux* rc_b, + RC_Channel_aux* rc_c, + RC_Channel_aux* rc_d, + RC_Channel_aux* rc_e, + RC_Channel_aux* rc_f, + RC_Channel_aux* rc_g) { - RC_Channel_aux::Aux_servo_function_t aux_servo_function[4]; + RC_Channel_aux::Aux_servo_function_t aux_servo_function[7]; aux_servo_function[0] = (rc_a == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_a->function.get(); aux_servo_function[1] = (rc_b == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_b->function.get(); aux_servo_function[2] = (rc_c == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_c->function.get(); aux_servo_function[3] = (rc_d == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_d->function.get(); + aux_servo_function[4] = (rc_e == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_e->function.get(); + aux_servo_function[5] = (rc_f == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_f->function.get(); + aux_servo_function[6] = (rc_g == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_g->function.get(); - for (uint8_t i = 0; i < 4; i++) { + for (uint8_t i = 0; i < 7; i++) { if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) { // invalid setting aux_servo_function[i] = RC_Channel_aux::k_none; @@ -155,6 +166,9 @@ void update_aux_servo_function(RC_Channel_aux* rc_a, RC_Channel_aux* rc_b, RC_Ch if( rc_b != NULL ) { g_rc_function[aux_servo_function[1]] = rc_b; } if( rc_c != NULL ) { g_rc_function[aux_servo_function[2]] = rc_c; } if( rc_d != NULL ) { g_rc_function[aux_servo_function[3]] = rc_d; } + if( rc_e != NULL ) { g_rc_function[aux_servo_function[3]] = rc_e; } + if( rc_f != NULL ) { g_rc_function[aux_servo_function[3]] = rc_f; } + if( rc_g != NULL ) { g_rc_function[aux_servo_function[3]] = rc_g; } //set auxiliary ranges G_RC_AUX(k_flap)->set_range(0,100); diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h index e658f68904..2a248ae4fb 100644 --- a/libraries/RC_Channel/RC_Channel_aux.h +++ b/libraries/RC_Channel/RC_Channel_aux.h @@ -66,7 +66,7 @@ public: static const struct AP_Param::GroupInfo var_info[]; }; -void update_aux_servo_function(RC_Channel_aux* rc_a = NULL, RC_Channel_aux* rc_b = NULL, RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL); +void update_aux_servo_function(RC_Channel_aux* rc_a = NULL, RC_Channel_aux* rc_b = NULL, RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL, RC_Channel_aux* rc_e = NULL, RC_Channel_aux* rc_f = NULL, RC_Channel_aux* rc_g = NULL); extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function #endif /* RC_CHANNEL_AUX_H_ */