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Support up to 7 aux servo outputs

This commit is contained in:
Amilcar Lucas 2012-07-18 21:46:14 +02:00
parent 33d8cbfd51
commit 22d2f9ea15
2 changed files with 18 additions and 4 deletions
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20
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -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);

2
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -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_ */