mirror of https://github.com/ArduPilot/ardupilot
RC_Channel: simplified RC_Channel_aux and fixed issue 725
it is perfectly valid to configure two RC channels with the same function, especially when that function is manual output (ie. copy input to output) This removes the g_rc_function[] indirection array
This commit is contained in:
Andrew Tridgell
parent
a6422be8fb
commit
3b97339104
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@ -16,8 +16,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
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AP_GROUPEND
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};
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/// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation
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RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];
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static RC_Channel_aux *_aux_channels[7];
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/// enable_out_ch - enable the channel through APM_RC
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void
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@ -46,7 +45,7 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
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_apm_rc->OutputCh(ch_nr, radio_out);
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}
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/// Update the g_rc_function array of pointers to rc_x channels
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/// Update the _aux_channels array of pointers to rc_x channels
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/// This is to be done before rc_init so that the channels get correctly initialized.
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/// It also should be called periodically because the user might change the configuration and
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/// expects the changes to take effect instantly
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@ -61,68 +60,148 @@ void update_aux_servo_function( RC_Channel_aux* rc_a,
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RC_Channel_aux* rc_f,
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RC_Channel_aux* rc_g)
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{
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RC_Channel_aux::Aux_servo_function_t aux_servo_function[7];
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aux_servo_function[0] = (rc_a == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_a->function.get();
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aux_servo_function[1] = (rc_b == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_b->function.get();
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aux_servo_function[2] = (rc_c == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_c->function.get();
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aux_servo_function[3] = (rc_d == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_d->function.get();
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aux_servo_function[4] = (rc_e == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_e->function.get();
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aux_servo_function[5] = (rc_f == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_f->function.get();
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aux_servo_function[6] = (rc_g == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_g->function.get();
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_aux_channels[0] = rc_a;
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_aux_channels[1] = rc_b;
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_aux_channels[2] = rc_c;
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_aux_channels[3] = rc_d;
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_aux_channels[4] = rc_e;
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_aux_channels[5] = rc_f;
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_aux_channels[6] = rc_g;
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// set auxiliary ranges
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for (uint8_t i = 0; i < 7; i++) {
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if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {
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// invalid setting
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aux_servo_function[i] = RC_Channel_aux::k_none;
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}
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}
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// Assume that no auxiliary function is used
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for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions; i++)
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{
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g_rc_function[i] = NULL;
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}
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// assign the RC channel to each function
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if( rc_a != NULL ) { g_rc_function[aux_servo_function[0]] = rc_a; }
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if( rc_b != NULL ) { g_rc_function[aux_servo_function[1]] = rc_b; }
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if( rc_c != NULL ) { g_rc_function[aux_servo_function[2]] = rc_c; }
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if( rc_d != NULL ) { g_rc_function[aux_servo_function[3]] = rc_d; }
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if( rc_e != NULL ) { g_rc_function[aux_servo_function[4]] = rc_e; }
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if( rc_f != NULL ) { g_rc_function[aux_servo_function[5]] = rc_f; }
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if( rc_g != NULL ) { g_rc_function[aux_servo_function[6]] = rc_g; }
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//set auxiliary ranges
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G_RC_AUX(k_flap)->set_range(0,100);
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G_RC_AUX(k_flap_auto)->set_range(0,100);
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G_RC_AUX(k_aileron)->set_angle(4500);
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G_RC_AUX(k_flaperon)->set_range(0,100);
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/*
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* G_RC_AUX(k_mount_pan)->set_range(
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* g_rc_function[RC_Channel_aux::k_mount_pan]->angle_min / 10,
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* g_rc_function[RC_Channel_aux::k_mount_pan]->angle_max / 10);
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* G_RC_AUX(k_mount_tilt)->set_range(
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* g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_min / 10,
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* g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_max / 10);
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* G_RC_AUX(k_mount_roll)->set_range(
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* g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
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* g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
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* G_RC_AUX(k_mount_open)->set_range(0,100);
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* G_RC_AUX(k_cam_trigger)->set_range(
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* g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
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* g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
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*/
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G_RC_AUX(k_egg_drop)->set_range(0,100);
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if (_aux_channels[i] == NULL) continue;
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RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
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switch (function) {
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case RC_Channel_aux::k_flap:
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case RC_Channel_aux::k_flap_auto:
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case RC_Channel_aux::k_flaperon:
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case RC_Channel_aux::k_egg_drop:
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_aux_channels[i]->set_range(0,100);
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break;
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case RC_Channel_aux::k_aileron:
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_aux_channels[i]->set_angle(4500);
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break;
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default:
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break;
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}
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}
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}
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/// Should be called after the the servo functions have been initialized
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void
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enable_aux_servos()
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{
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// cycle thru all functions except k_none and k_nr_aux_servo_functions
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for (uint8_t i = 1; i < RC_Channel_aux::k_nr_aux_servo_functions; i++)
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{
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if (g_rc_function[i]) g_rc_function[i]->enable_out();
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// enable all channels that are not set to k_none or k_nr_aux_servo_functions
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i]) {
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RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
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// see if it is a valid function
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if (function > RC_Channel_aux::k_none && function < RC_Channel_aux::k_nr_aux_servo_functions) {
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_aux_channels[i]->enable_out();
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}
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}
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}
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}
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/*
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set and save the trim value to radio_in for all channels matching
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the given function type
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*/
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void
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RC_Channel_aux::set_radio_trim(RC_Channel_aux::Aux_servo_function_t function)
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{
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_trim = _aux_channels[i]->radio_in;
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_aux_channels[i]->radio_trim.save();
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}
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}
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}
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/*
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set the radio_out value for any channel with the given function to radio_min
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*/
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void
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RC_Channel_aux::set_radio_to_min(RC_Channel_aux::Aux_servo_function_t function)
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{
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_out = _aux_channels[i]->radio_min;
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}
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}
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}
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/*
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set the radio_out value for any channel with the given function to radio_max
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*/
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void
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RC_Channel_aux::set_radio_to_max(RC_Channel_aux::Aux_servo_function_t function)
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{
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_out = _aux_channels[i]->radio_max;
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}
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}
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}
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/*
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copy radio_in to radio_out for a given function
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*/
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void
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RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::Aux_servo_function_t function)
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{
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->radio_out = _aux_channels[i]->radio_in;
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}
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}
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}
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/*
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set servo_out and call calc_pwm() for a given function
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*/
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void
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RC_Channel_aux::set_servo_out(RC_Channel_aux::Aux_servo_function_t function, int16_t value)
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{
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->servo_out = value;
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_aux_channels[i]->calc_pwm();
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}
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}
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}
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/*
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return true if a particular function is assigned to at least one RC channel
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*/
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bool
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RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t function)
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{
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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return true;
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}
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}
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return false;
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}
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/*
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set servo_out and angle_min/max, then calc_pwm and output a
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value. This is used to move a AP_Mount servo
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*/
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void
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RC_Channel_aux::move_servo(RC_Channel_aux::Aux_servo_function_t function,
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int16_t value, int16_t angle_min, int16_t angle_max)
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{
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for (uint8_t i = 0; i < 7; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function.get() == function) {
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_aux_channels[i]->servo_out = value;
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_aux_channels[i]->set_range(angle_min, angle_max);
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_aux_channels[i]->calc_pwm();
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_aux_channels[i]->output();
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}
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}
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}
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@ -9,9 +9,6 @@
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#include "RC_Channel.h"
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// Macro to simplify accessing the auxiliary servos
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#define G_RC_AUX(_t) if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t]
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/// @class RC_Channel_aux
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/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
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class RC_Channel_aux : public RC_Channel {
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@ -53,11 +50,35 @@ public:
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void output_ch(unsigned char ch_nr);
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// set and save the trim for a function channel to radio_in
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static void set_radio_trim(Aux_servo_function_t function);
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// set radio_out to radio_min
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static void set_radio_to_min(Aux_servo_function_t function);
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// set radio_out to radio_max
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static void set_radio_to_max(Aux_servo_function_t function);
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// copy radio_in to radio_out
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static void copy_radio_in_out(Aux_servo_function_t function);
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// set servo_out
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static void set_servo_out(Aux_servo_function_t function, int16_t value);
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// return true if a function is assigned to a channel
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static bool function_assigned(Aux_servo_function_t function);
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// set a servo_out value, and angle range, then calc_pwm
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static void move_servo(Aux_servo_function_t function,
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int16_t value, int16_t angle_min, int16_t angle_max);
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static const struct AP_Param::GroupInfo var_info[];
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};
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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);
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void enable_aux_servos();
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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void update_aux_servo_function(RC_Channel_aux* rc_a = NULL, RC_Channel_aux* rc_b = NULL,
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RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL,
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RC_Channel_aux* rc_e = NULL, RC_Channel_aux* rc_f = NULL,
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RC_Channel_aux* rc_g = NULL);
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void enable_aux_servos();
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#endif /* RC_CHANNEL_AUX_H_ */
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