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Copter: Finish RCMap fix.

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All g.rc_X references changed to channel function pointers.
This commit is contained in:
Robert Lefebvre 2015-05-19 09:38:57 -04:00 committed by Randy Mackay
parent acdf4a226f
commit 316196b12f
14 changed files with 36 additions and 36 deletions
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6
ArduCopter/Attitude.pde
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@ -154,7 +154,7 @@ static float get_pilot_desired_climb_rate(float throttle_control)
}
float desired_rate = 0.0f;
float mid_stick = g.rc_3.get_control_mid();
float mid_stick = channel_throttle->get_control_mid();
float deadband_top = mid_stick + g.throttle_deadzone;
float deadband_bottom = mid_stick - g.throttle_deadzone;
@ -190,7 +190,7 @@ static float get_non_takeoff_throttle()
static float get_takeoff_trigger_throttle()
{
return g.rc_3.get_control_mid() + g.takeoff_trigger_dz;
return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
}
// get_throttle_pre_takeoff - convert pilot's input throttle to a throttle output before take-off
@ -213,7 +213,7 @@ static float get_throttle_pre_takeoff(float input_thr)
float out_max = get_non_takeoff_throttle();
if ((g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0) {
in_min = g.rc_3.get_control_mid();
in_min = channel_throttle->get_control_mid();
}
float input_range = in_max-in_min;

4
ArduCopter/control_acro.pde
View File

@ -25,10 +25,10 @@ static void acro_run()
}
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);
get_pilot_desired_angle_rates(channel_roll->control_in, channel_pitch->control_in, channel_yaw->control_in, target_roll, target_pitch, target_yaw);
// get pilot's desired throttle
pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);
pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in);
// run attitude controller
attitude_control.rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);

8
ArduCopter/control_althold.pde
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@ -38,20 +38,20 @@ static void althold_run()
// get pilot desired lean angles
// To-Do: convert get_pilot_desired_lean_angles to return angles as floats
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, target_roll, target_pitch);
get_pilot_desired_lean_angles(channel_roll->control_in, channel_pitch->control_in, target_roll, target_pitch);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// check for take-off
if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) {
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}

6
ArduCopter/control_auto.pde
View File

@ -170,7 +170,7 @@ static void auto_wp_run()
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
@ -225,8 +225,8 @@ static void auto_spline_run()
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
// get pilot's desired yaw rat
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}

4
ArduCopter/control_circle.pde
View File

@ -43,13 +43,13 @@ static void circle_run()
// process pilot inputs
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
circle_pilot_yaw_override = true;
}
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
// check for pilot requested take-off
if (ap.land_complete && target_climb_rate > 0) {

2
ArduCopter/control_flip.pde
View File

@ -50,7 +50,7 @@ static bool flip_init(bool ignore_checks)
}
// ensure roll input is less than 40deg
if (abs(g.rc_1.control_in) >= 4000) {
if (abs(channel_roll->control_in) >= 4000) {
return false;
}

6
ArduCopter/control_guided.pde
View File

@ -231,7 +231,7 @@ static void guided_pos_control_run()
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
@ -261,7 +261,7 @@ static void guided_vel_control_run()
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
@ -300,7 +300,7 @@ static void guided_posvel_control_run()
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}

8
ArduCopter/control_loiter.pde
View File

@ -47,20 +47,20 @@ static void loiter_run()
update_simple_mode();
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(g.rc_1.control_in, g.rc_2.control_in);
wp_nav.set_pilot_desired_acceleration(channel_roll->control_in, channel_pitch->control_in);
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// check for take-off
if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
if (ap.land_complete && (takeoff_state.running || channel_throttle->control_in > get_takeoff_trigger_throttle())) {
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}

6
ArduCopter/control_poshold.pde
View File

@ -156,17 +156,17 @@ static void poshold_run()
update_simple_mode();
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot desired climb rate (for alt-hold mode and take-off)
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// check for take-off
if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
if (ap.land_complete && (takeoff_state.running || channel_throttle->control_in > get_takeoff_trigger_throttle())) {
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}

4
ArduCopter/control_rtl.pde
View File

@ -143,7 +143,7 @@ static void rtl_climb_return_run()
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
@ -199,7 +199,7 @@ static void rtl_loiterathome_run()
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}

8
ArduCopter/control_sport.pde
View File

@ -28,7 +28,7 @@ static void sport_run()
// if not armed or throttle at zero, set throttle to zero and exit immediately
if(!motors.armed() || ap.throttle_zero) {
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(g.rc_3.control_in)-throttle_average);
pos_control.relax_alt_hold_controllers(get_throttle_pre_takeoff(channel_throttle->control_in)-throttle_average);
return;
}
@ -61,17 +61,17 @@ static void sport_run()
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
// get pilot desired climb rate
target_climb_rate = get_pilot_desired_climb_rate(g.rc_3.control_in);
target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// get takeoff adjusted pilot and takeoff climb rates
takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
// check for take-off
if (ap.land_complete && (takeoff_state.running || g.rc_3.control_in > get_takeoff_trigger_throttle())) {
if (ap.land_complete && (takeoff_state.running || (channel_throttle->control_in > get_takeoff_trigger_throttle()))) {
if (!takeoff_state.running) {
takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
}

2
ArduCopter/land_detector.pde
View File

@ -62,7 +62,7 @@ static void update_throttle_thr_mix()
{
if (mode_has_manual_throttle(control_mode)) {
// manual throttle
if(!motors.armed() || g.rc_3.control_in <= 0) {
if(!motors.armed() || channel_throttle->control_in <= 0) {
motors.set_throttle_mix_min();
} else {
motors.set_throttle_mix_mid();

6
ArduCopter/motors.pde
View File

@ -719,14 +719,14 @@ static bool arm_checks(bool display_failure, bool arming_from_gcs)
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(arming_from_gcs && control_mode == GUIDED)) {
// above top of deadband is too always high
if (g.rc_3.control_in > get_takeoff_trigger_throttle()) {
if (channel_throttle->control_in > get_takeoff_trigger_throttle()) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
}
return false;
}
// in manual modes throttle must be at zero
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && g.rc_3.control_in > 0) {
if ((mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && channel_throttle->control_in > 0) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("Arm: Throttle too high"));
}
@ -822,7 +822,7 @@ static void lost_vehicle_check()
}
// ensure throttle is down, motors not armed, pitch and roll rc at max. Note: rc1=roll rc2=pitch
if (ap.throttle_zero && !motors.armed() && (g.rc_1.control_in > 4000) && (g.rc_2.control_in > 4000)) {
if (ap.throttle_zero && !motors.armed() && (channel_roll->control_in > 4000) && (channel_pitch->control_in > 4000)) {
if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
if (AP_Notify::flags.vehicle_lost == false) {
AP_Notify::flags.vehicle_lost = true;

2
ArduCopter/switches.pde
View File

@ -303,7 +303,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
}
// do not allow saving the first waypoint with zero throttle
if((mission.num_commands() == 0) && (g.rc_3.control_in == 0)){
if((mission.num_commands() == 0) && (channel_throttle->control_in == 0)){
return;
}