From 49619b15dd7259a08ef059c225c04b98b9a5f764 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Sun, 9 Dec 2012 16:42:58 +0900
Subject: [PATCH] RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type
 definitions to .h file so they can be used by the main sketch

---
 libraries/RC_Channel/RC_Channel.cpp | 18 +++++++-----------
 libraries/RC_Channel/RC_Channel.h   |  4 ++++
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index cc4d2c25bc..66d4d420b1 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -19,10 +19,6 @@
 #endif
 #include "RC_Channel.h"
 
-#define RC_CHANNEL_ANGLE 0
-#define RC_CHANNEL_RANGE 1
-#define RC_CHANNEL_ANGLE_RAW 2
-
 /// global array with pointers to all APM RC channels, will be used by AP_Mount and AP_Camera classes
 /// It points to RC input channels, both APM1 and APM2 only have 8 input channels.
 RC_Channel* rc_ch[NUM_CHANNELS];
@@ -76,7 +72,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
 void
 RC_Channel::set_range(int16_t low, int16_t high)
 {
-    _type           = RC_CHANNEL_RANGE;
+    _type           = RC_CHANNEL_TYPE_RANGE;
     _high           = high;
     _low            = low;
     _high_out       = high;
@@ -93,7 +89,7 @@ RC_Channel::set_range_out(int16_t low, int16_t high)
 void
 RC_Channel::set_angle(int16_t angle)
 {
-    _type   = RC_CHANNEL_ANGLE;
+    _type   = RC_CHANNEL_TYPE_ANGLE;
     _high   = angle;
 }
 
@@ -136,14 +132,14 @@ RC_Channel::set_pwm(int16_t pwm)
 {
     radio_in = pwm;
 
-    if(_type == RC_CHANNEL_RANGE) {
+    if(_type == RC_CHANNEL_TYPE_RANGE) {
         control_in = pwm_to_range();
         //control_in = constrain(control_in, _low, _high);
         //control_in = min(control_in, _high);
         control_in = (control_in < _dead_zone) ? 0 : control_in;
 
     } else {
-        //RC_CHANNEL_ANGLE, RC_CHANNEL_ANGLE_RAW
+        //RC_CHANNEL_TYPE_ANGLE, RC_CHANNEL_TYPE_ANGLE_RAW
         control_in = pwm_to_angle();
     }
 }
@@ -165,15 +161,15 @@ RC_Channel::get_failsafe(void)
 void
 RC_Channel::calc_pwm(void)
 {
-    if(_type == RC_CHANNEL_RANGE) {
+    if(_type == 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_ANGLE_RAW) {
+    }else if(_type == RC_CHANNEL_TYPE_ANGLE_RAW) {
         pwm_out         = (float)servo_out * .1;
         radio_out       = (pwm_out * _reverse) + radio_trim;
 
-    }else{     // RC_CHANNEL_ANGLE
+    }else{     // RC_CHANNEL_TYPE_ANGLE
         pwm_out         = angle_to_pwm();
         radio_out       = pwm_out + radio_trim;
     }
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index e457df9301..e941cf0154 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -9,6 +9,10 @@
 #include <AP_Common.h>
 #include <APM_RC.h>
 
+#define RC_CHANNEL_TYPE_ANGLE       0
+#define RC_CHANNEL_TYPE_RANGE       1
+#define RC_CHANNEL_TYPE_ANGLE_RAW   2
+
 /// @class	RC_Channel
 /// @brief	Object managing one RC channel
 class RC_Channel {