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RC_Channel: allow more complete separation of input and output of channels

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this allows for the type and range of channels to be different on
input and output
This commit is contained in:
Andrew Tridgell 2015-12-07 08:25:32 +11:00 committed by Randy Mackay
parent 0ef61b1637
commit 48b774bc63
2 changed files with 64 additions and 25 deletions
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75
libraries/RC_Channel/RC_Channel.cpp
View File

@ -89,25 +89,45 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
void
RC_Channel::set_range(int16_t low, int16_t high)
{
_type = RC_CHANNEL_TYPE_RANGE;
_high = high;
_low = low;
_high_out = high;
_low_out = low;
set_range_in(low, high);
set_range_out(low, high);
}
void
RC_Channel::set_range_out(int16_t low, int16_t high)
{
_type_out = RC_CHANNEL_TYPE_RANGE;
_high_out = high;
_low_out = low;
}
void
RC_Channel::set_range_in(int16_t low, int16_t high)
{
_type_in = RC_CHANNEL_TYPE_RANGE;
_high_in = high;
_low_in = low;
}
void
RC_Channel::set_angle(int16_t angle)
{
_type = RC_CHANNEL_TYPE_ANGLE;
_high = angle;
set_angle_in(angle);
set_angle_out(angle);
}
void
RC_Channel::set_angle_out(int16_t angle)
{
_type_out = RC_CHANNEL_TYPE_ANGLE;
_high_out = angle;
}
void
RC_Channel::set_angle_in(int16_t angle)
{
_type_in = RC_CHANNEL_TYPE_ANGLE;
_high_in = angle;
}
void
@ -135,7 +155,20 @@ RC_Channel::get_reverse(void) const
void
RC_Channel::set_type(uint8_t t)
{
_type = t;
set_type_in(t);
set_type_out(t);
}
void
RC_Channel::set_type_in(uint8_t t)
{
_type_in = t;
}
void
RC_Channel::set_type_out(uint8_t t)
{
_type_out = t;
}
// call after first read
@ -151,7 +184,7 @@ RC_Channel::set_pwm(int16_t pwm)
{
radio_in = pwm;
if (_type == RC_CHANNEL_TYPE_RANGE) {
if (_type_in == RC_CHANNEL_TYPE_RANGE) {
control_in = pwm_to_range();
} else {
//RC_CHANNEL_TYPE_ANGLE, RC_CHANNEL_TYPE_ANGLE_RAW
@ -180,7 +213,7 @@ RC_Channel::set_pwm_no_deadzone(int16_t pwm)
{
radio_in = pwm;
if (_type == RC_CHANNEL_TYPE_RANGE) {
if (_type_in == RC_CHANNEL_TYPE_RANGE) {
control_in = pwm_to_range_dz(0);
} else {
//RC_CHANNEL_ANGLE, RC_CHANNEL_ANGLE_RAW
@ -191,18 +224,18 @@ RC_Channel::set_pwm_no_deadzone(int16_t pwm)
int16_t
RC_Channel::control_mix(float value)
{
return (1 - abs(control_in / _high)) * value + control_in;
return (1 - abs(control_in / _high_in)) * value + control_in;
}
// returns just the PWM without the offset from radio_min
void
RC_Channel::calc_pwm(void)
{
if(_type == RC_CHANNEL_TYPE_RANGE) {
if(_type_out == RC_CHANNEL_TYPE_RANGE) {
pwm_out = range_to_pwm();
radio_out = (_reverse >= 0) ? (radio_min + pwm_out) : (radio_max - pwm_out);
}else if(_type == RC_CHANNEL_TYPE_ANGLE_RAW) {
}else if(_type_out == RC_CHANNEL_TYPE_ANGLE_RAW) {
pwm_out = (float)servo_out * 0.1f;
int16_t reverse_mul = (_reverse==-1?-1:1);
radio_out = (pwm_out * reverse_mul) + radio_trim;
@ -222,7 +255,7 @@ RC_Channel::calc_pwm(void)
*/
int16_t
RC_Channel::get_control_mid() const {
if (_type == RC_CHANNEL_TYPE_RANGE) {
if (_type_in == RC_CHANNEL_TYPE_RANGE) {
int16_t r_in = (radio_min.get()+radio_max.get())/2;
if (_reverse == -1) {
@ -231,7 +264,7 @@ RC_Channel::get_control_mid() const {
int16_t radio_trim_low = radio_min + _dead_zone;
return (_low + ((int32_t)(_high - _low) * (int32_t)(r_in - radio_trim_low)) / (int32_t)(radio_max - radio_trim_low));
return (_low_in + ((int32_t)(_high_in - _low_in) * (int32_t)(r_in - radio_trim_low)) / (int32_t)(radio_max - radio_trim_low));
} else {
return 0;
}
@ -290,9 +323,9 @@ RC_Channel::pwm_to_angle_dz(uint16_t dead_zone)
int16_t reverse_mul = (_reverse==-1?-1:1);
if(radio_in > radio_trim_high) {
return reverse_mul * ((int32_t)_high * (int32_t)(radio_in - radio_trim_high)) / (int32_t)(radio_max - radio_trim_high);
return reverse_mul * ((int32_t)_high_in * (int32_t)(radio_in - radio_trim_high)) / (int32_t)(radio_max - radio_trim_high);
}else if(radio_in < radio_trim_low) {
return reverse_mul * ((int32_t)_high * (int32_t)(radio_in - radio_trim_low)) / (int32_t)(radio_trim_low - radio_min);
return reverse_mul * ((int32_t)_high_in * (int32_t)(radio_in - radio_trim_low)) / (int32_t)(radio_trim_low - radio_min);
}else
return 0;
}
@ -313,9 +346,9 @@ RC_Channel::angle_to_pwm()
{
int16_t reverse_mul = (_reverse==-1?-1:1);
if((servo_out * reverse_mul) > 0) {
return reverse_mul * ((int32_t)servo_out * (int32_t)(radio_max - radio_trim)) / (int32_t)_high;
return reverse_mul * ((int32_t)servo_out * (int32_t)(radio_max - radio_trim)) / (int32_t)_high_out;
} else {
return reverse_mul * ((int32_t)servo_out * (int32_t)(radio_trim - radio_min)) / (int32_t)_high;
return reverse_mul * ((int32_t)servo_out * (int32_t)(radio_trim - radio_min)) / (int32_t)_high_out;
}
}
@ -335,11 +368,11 @@ RC_Channel::pwm_to_range_dz(uint16_t dead_zone)
int16_t radio_trim_low = radio_min + dead_zone;
if (r_in > radio_trim_low)
return (_low + ((int32_t)(_high - _low) * (int32_t)(r_in - radio_trim_low)) / (int32_t)(radio_max - radio_trim_low));
return (_low_in + ((int32_t)(_high_in - _low_in) * (int32_t)(r_in - radio_trim_low)) / (int32_t)(radio_max - radio_trim_low));
else if (dead_zone > 0)
return 0;
else
return _low;
return _low_in;
}
/*

14
libraries/RC_Channel/RC_Channel.h
View File

@ -25,7 +25,7 @@ public:
/// @param name Optional name for the group.
///
RC_Channel(uint8_t ch_out) :
_high(1),
_high_in(1),
_ch_out(ch_out) {
AP_Param::setup_object_defaults(this, var_info);
if (ch_out < RC_MAX_CHANNELS) {
@ -49,11 +49,16 @@ public:
void save_eeprom(void);
void save_trim(void);
void set_type(uint8_t t);
void set_type_in(uint8_t t);
void set_type_out(uint8_t t);
// setup the control preferences
void set_range(int16_t low, int16_t high);
void set_range_out(int16_t low, int16_t high);
void set_range_in(int16_t low, int16_t high);
void set_angle(int16_t angle);
void set_angle_in(int16_t angle);
void set_angle_out(int16_t angle);
void set_reverse(bool reverse);
bool get_reverse(void) const;
void set_default_dead_zone(int16_t dzone);
@ -140,9 +145,10 @@ public:
private:
AP_Int8 _reverse;
AP_Int16 _dead_zone;
uint8_t _type;
int16_t _high;
int16_t _low;
uint8_t _type_in;
int16_t _high_in;
int16_t _low_in;
uint8_t _type_out;
int16_t _high_out;
int16_t _low_out;