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AP_Mount: adapt to new RC_Channel API

This commit is contained in:
Andrew Tridgell 2017-01-05 16:13:02 +11:00
parent ee7b9a3f8e
commit 4173432542
4 changed files with 27 additions and 27 deletions
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6
libraries/AP_Mount/AP_Mount.cpp
View File

@ -419,9 +419,9 @@ void AP_Mount::init(DataFlash_Class *dataflash, const AP_SerialManager& serial_m
// default mount to servo mount if rc output channels to control roll, tilt or pan have been defined
if (!state[0]._type.configured()) {
if (RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_pan) ||
RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_tilt) ||
RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_roll)) {
if (SRV_Channels::function_assigned(SRV_Channel::Aux_servo_function_t::k_mount_pan) ||
SRV_Channels::function_assigned(SRV_Channel::Aux_servo_function_t::k_mount_tilt) ||
SRV_Channels::function_assigned(SRV_Channel::Aux_servo_function_t::k_mount_roll)) {
state[0]._type.set_and_save(Mount_Type_Servo);
}
}

2
libraries/AP_Mount/AP_Mount_Backend.cpp
View File

@ -83,7 +83,7 @@ void AP_Mount_Backend::control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_
// update_targets_from_rc - updates angle targets using input from receiver
void AP_Mount_Backend::update_targets_from_rc()
{
#define rc_ch(i) RC_Channel::rc_channel(i-1)
#define rc_ch(i) RC_Channels::rc_channel(i-1)
uint8_t roll_rc_in = _state._roll_rc_in;
uint8_t tilt_rc_in = _state._tilt_rc_in;

24
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -6,16 +6,16 @@ extern const AP_HAL::HAL& hal;
void AP_Mount_Servo::init(const AP_SerialManager& serial_manager)
{
if (_instance == 0) {
_roll_idx = RC_Channel_aux::k_mount_roll;
_tilt_idx = RC_Channel_aux::k_mount_tilt;
_pan_idx = RC_Channel_aux::k_mount_pan;
_open_idx = RC_Channel_aux::k_mount_open;
_roll_idx = SRV_Channel::k_mount_roll;
_tilt_idx = SRV_Channel::k_mount_tilt;
_pan_idx = SRV_Channel::k_mount_pan;
_open_idx = SRV_Channel::k_mount_open;
} else {
// this must be the 2nd mount
_roll_idx = RC_Channel_aux::k_mount2_roll;
_tilt_idx = RC_Channel_aux::k_mount2_tilt;
_pan_idx = RC_Channel_aux::k_mount2_pan;
_open_idx = RC_Channel_aux::k_mount2_open;
_roll_idx = SRV_Channel::k_mount2_roll;
_tilt_idx = SRV_Channel::k_mount2_tilt;
_pan_idx = SRV_Channel::k_mount2_pan;
_open_idx = SRV_Channel::k_mount2_open;
}
// check which servos have been assigned
@ -107,9 +107,9 @@ void AP_Mount_Servo::set_mode(enum MAV_MOUNT_MODE mode)
// should be called periodically (i.e. 1hz or less)
void AP_Mount_Servo::check_servo_map()
{
_flags.roll_control = RC_Channel_aux::function_assigned(_roll_idx);
_flags.tilt_control = RC_Channel_aux::function_assigned(_tilt_idx);
_flags.pan_control = RC_Channel_aux::function_assigned(_pan_idx);
_flags.roll_control = SRV_Channels::function_assigned(_roll_idx);
_flags.tilt_control = SRV_Channels::function_assigned(_tilt_idx);
_flags.pan_control = SRV_Channels::function_assigned(_pan_idx);
}
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
@ -197,5 +197,5 @@ void AP_Mount_Servo::move_servo(uint8_t function_idx, int16_t angle, int16_t ang
{
// saturate to the closest angle limit if outside of [min max] angle interval
int16_t servo_out = closest_limit(angle, angle_min, angle_max);
RC_Channel_aux::move_servo((RC_Channel_aux::Aux_servo_function_t)function_idx, servo_out, angle_min, angle_max);
SRV_Channels::move_servo((SRV_Channel::Aux_servo_function_t)function_idx, servo_out, angle_min, angle_max);
}

22
libraries/AP_Mount/AP_Mount_Servo.h
View File

@ -8,7 +8,7 @@
#include <AP_GPS/AP_GPS.h>
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <RC_Channel/RC_Channel_aux.h>
#include <SRV_Channel/SRV_Channel.h>
#include "AP_Mount_Backend.h"
class AP_Mount_Servo : public AP_Mount_Backend
@ -17,10 +17,10 @@ public:
// Constructor
AP_Mount_Servo(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance):
AP_Mount_Backend(frontend, state, instance),
_roll_idx(RC_Channel_aux::k_none),
_tilt_idx(RC_Channel_aux::k_none),
_pan_idx(RC_Channel_aux::k_none),
_open_idx(RC_Channel_aux::k_none),
_roll_idx(SRV_Channel::k_none),
_tilt_idx(SRV_Channel::k_none),
_pan_idx(SRV_Channel::k_none),
_open_idx(SRV_Channel::k_none),
_last_check_servo_map_ms(0)
{
// init to no axis being controlled
@ -53,7 +53,7 @@ private:
bool pan_control :1; // true if mount has pan control
} _flags;
// check_servo_map - detects which axis we control (i.e. _flags) using the functions assigned to the servos in the RC_Channel_aux
// check_servo_map - detects which axis we control (i.e. _flags) using the functions assigned to the servos in the SRV_Channel
// should be called periodically (i.e. 1hz or less)
void check_servo_map();
@ -66,11 +66,11 @@ private:
/// move_servo - moves servo with the given id to the specified angle. all angles are in degrees * 10
void move_servo(uint8_t rc, int16_t angle, int16_t angle_min, int16_t angle_max);
// RC_Channel_aux - different id numbers are used depending upon the instance number
RC_Channel_aux::Aux_servo_function_t _roll_idx; // RC_Channel_aux mount roll function index
RC_Channel_aux::Aux_servo_function_t _tilt_idx; // RC_Channel_aux mount tilt function index
RC_Channel_aux::Aux_servo_function_t _pan_idx; // RC_Channel_aux mount pan function index
RC_Channel_aux::Aux_servo_function_t _open_idx; // RC_Channel_aux mount open function index
// SRV_Channel - different id numbers are used depending upon the instance number
SRV_Channel::Aux_servo_function_t _roll_idx; // SRV_Channel mount roll function index
SRV_Channel::Aux_servo_function_t _tilt_idx; // SRV_Channel mount tilt function index
SRV_Channel::Aux_servo_function_t _pan_idx; // SRV_Channel mount pan function index
SRV_Channel::Aux_servo_function_t _open_idx; // SRV_Channel mount open function index
Vector3f _angle_bf_output_deg; // final body frame output angle in degrees