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Copter: Utilize Input Manager Class

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This commit is contained in:
Robert Lefebvre 2015-10-12 10:27:26 -04:00 committed by Randy Mackay
parent afcc304cbf
commit 34fb600c4f
4 changed files with 24 additions and 2 deletions
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3
ArduCopter/Copter.cpp
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@ -32,6 +32,9 @@ Copter::Copter(void) :
control_mode(STABILIZE), control_mode(STABILIZE),
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments #if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE), motors(g.rc_7, g.heli_servo_rsc, g.heli_servo_1, g.heli_servo_2, g.heli_servo_3, g.heli_servo_4, MAIN_LOOP_RATE),
// ToDo: Input Manager is only used by Heli for 3.3, but will be used by all frames for 3.4
input_manager(MAIN_LOOP_RATE),
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing #elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
motors(MAIN_LOOP_RATE), motors(MAIN_LOOP_RATE),
#elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps #elif FRAME_CONFIG == SINGLE_FRAME // single constructor requires extra servos for flaps

10
ArduCopter/Copter.h
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@ -105,6 +105,9 @@
#include <AC_PrecLand/AC_PrecLand.h> #include <AC_PrecLand/AC_PrecLand.h>
#include <AP_IRLock/AP_IRLock.h> #include <AP_IRLock/AP_IRLock.h>
#endif #endif
#include <AC_InputManager/AC_InputManager.h> // Pilot input handling library
#include <AC_InputManager/AC_InputManager_Heli.h> // Heli specific pilot input handling library
// AP_HAL to Arduino compatibility layer // AP_HAL to Arduino compatibility layer
// Configuration // Configuration
@ -506,6 +509,13 @@ private:
AC_PrecLand precland; AC_PrecLand precland;
#endif #endif
// Pilot Input Management Library
// Only used for Helicopter for AC3.3, to be expanded to include Multirotor
// child class for AC3.4
#if FRAME_CONFIG == HELI_FRAME
AC_InputManager_Heli input_manager;
#endif
// use this to prevent recursion during sensor init // use this to prevent recursion during sensor init
bool in_mavlink_delay; bool in_mavlink_delay;

6
ArduCopter/Parameters.cpp
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@ -901,6 +901,12 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp // @Path: ../libraries/AP_LandingGear/AP_LandingGear.cpp
GOBJECT(landinggear, "LGR_", AP_LandingGear), GOBJECT(landinggear, "LGR_", AP_LandingGear),
#if FRAME_CONFIG == HELI_FRAME
// @Group: IM_
// @Path: ../libraries/AC_InputManager_Heli.cpp
GOBJECT(input_manager, "IM_", AC_InputManager_Heli),
#endif
// @Group: COMPASS_ // @Group: COMPASS_
// @Path: ../libraries/AP_Compass/Compass.cpp // @Path: ../libraries/AP_Compass/Compass.cpp
GOBJECT(compass, "COMPASS_", Compass), GOBJECT(compass, "COMPASS_", Compass),

7
ArduCopter/Parameters.h
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@ -83,8 +83,8 @@ public:
// Landing gear object // Landing gear object
k_param_landinggear, // 18 k_param_landinggear, // 18
// precision landing object // Input Management object
k_param_precland, // 19 k_param_input_manager, // 19
// Misc // Misc
// //
@ -145,6 +145,9 @@ public:
k_param_gps_glitch, // deprecated k_param_gps_glitch, // deprecated
k_param_baro_glitch, // 71 - deprecated k_param_baro_glitch, // 71 - deprecated
// 74: precision landing object
k_param_precland = 74,
// //
// 75: Singlecopter, CoaxCopter // 75: Singlecopter, CoaxCopter
// //