Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCMapper: Add forward and strafe channel mappings for Sub

This commit is contained in:
Jacob Walser 2017-02-07 22:50:57 -05:00 committed by Andrew Tridgell
parent 1e8c1e8a78
commit 2bacc2fea2
2 changed files with 26 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AP_RCMapper/AP_RCMapper.cpp
View File

@ -38,6 +38,24 @@ const AP_Param::GroupInfo RCMapper::var_info[] = {
// @RebootRequired: True
AP_GROUPINFO("YAW", 3, RCMapper, _ch_yaw, 4),
// @Param: FORWARD
// @DisplayName: Forward channel
// @Description: Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
// @Range: 1 8
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO_FRAME("FORWARD", 4, RCMapper, _ch_forward, 6, AP_PARAM_FRAME_SUB),
// @Param: LATERAL
// @DisplayName: Lateral channel
// @Description: Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
// @Range: 1 8
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO_FRAME("LATERAL", 5, RCMapper, _ch_lateral, 7, AP_PARAM_FRAME_SUB),
AP_GROUPEND
};

8
libraries/AP_RCMapper/AP_RCMapper.h
View File

@ -23,6 +23,12 @@ public:
/// yaw - return input channel number for yaw / rudder input
uint8_t yaw() const { return _ch_yaw; }
/// forward - return input channel number for forward input
uint8_t forward() const { return _ch_forward; }
/// lateral - return input channel number for lateral input
uint8_t lateral() const { return _ch_lateral; }
static const struct AP_Param::GroupInfo var_info[];
private:
@ -31,4 +37,6 @@ private:
AP_Int8 _ch_pitch;
AP_Int8 _ch_yaw;
AP_Int8 _ch_throttle;
AP_Int8 _ch_forward;
AP_Int8 _ch_lateral;
};