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RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch

This commit is contained in:
rmackay9 2012-12-09 16:42:58 +09:00
parent 9a05d3bd36
commit 49619b15dd
2 changed files with 11 additions and 11 deletions
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18
libraries/RC_Channel/RC_Channel.cpp
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@ -19,10 +19,6 @@
#endif #endif
#include "RC_Channel.h" #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 /// 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. /// It points to RC input channels, both APM1 and APM2 only have 8 input channels.
RC_Channel* rc_ch[NUM_CHANNELS]; RC_Channel* rc_ch[NUM_CHANNELS];
@ -76,7 +72,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
void void
RC_Channel::set_range(int16_t low, int16_t high) RC_Channel::set_range(int16_t low, int16_t high)
{ {
_type = RC_CHANNEL_RANGE; _type = RC_CHANNEL_TYPE_RANGE;
_high = high; _high = high;
_low = low; _low = low;
_high_out = high; _high_out = high;
@ -93,7 +89,7 @@ RC_Channel::set_range_out(int16_t low, int16_t high)
void void
RC_Channel::set_angle(int16_t angle) RC_Channel::set_angle(int16_t angle)
{ {
_type = RC_CHANNEL_ANGLE; _type = RC_CHANNEL_TYPE_ANGLE;
_high = angle; _high = angle;
} }
@ -136,14 +132,14 @@ RC_Channel::set_pwm(int16_t pwm)
{ {
radio_in = pwm; radio_in = pwm;
if(_type == RC_CHANNEL_RANGE) { if(_type == RC_CHANNEL_TYPE_RANGE) {
control_in = pwm_to_range(); control_in = pwm_to_range();
//control_in = constrain(control_in, _low, _high); //control_in = constrain(control_in, _low, _high);
//control_in = min(control_in, _high); //control_in = min(control_in, _high);
control_in = (control_in < _dead_zone) ? 0 : control_in; control_in = (control_in < _dead_zone) ? 0 : control_in;
} else { } else {
//RC_CHANNEL_ANGLE, RC_CHANNEL_ANGLE_RAW //RC_CHANNEL_TYPE_ANGLE, RC_CHANNEL_TYPE_ANGLE_RAW
control_in = pwm_to_angle(); control_in = pwm_to_angle();
} }
} }
@ -165,15 +161,15 @@ RC_Channel::get_failsafe(void)
void void
RC_Channel::calc_pwm(void) RC_Channel::calc_pwm(void)
{ {
if(_type == RC_CHANNEL_RANGE) { if(_type == RC_CHANNEL_TYPE_RANGE) {
pwm_out = range_to_pwm(); pwm_out = range_to_pwm();
radio_out = (_reverse >= 0) ? (radio_min + pwm_out) : (radio_max - pwm_out); 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; pwm_out = (float)servo_out * .1;
radio_out = (pwm_out * _reverse) + radio_trim; radio_out = (pwm_out * _reverse) + radio_trim;
}else{ // RC_CHANNEL_ANGLE }else{ // RC_CHANNEL_TYPE_ANGLE
pwm_out = angle_to_pwm(); pwm_out = angle_to_pwm();
radio_out = pwm_out + radio_trim; radio_out = pwm_out + radio_trim;
} }

4
libraries/RC_Channel/RC_Channel.h
View File

@ -9,6 +9,10 @@
#include <AP_Common.h> #include <AP_Common.h>
#include <APM_RC.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 /// @class RC_Channel
/// @brief Object managing one RC channel /// @brief Object managing one RC channel
class RC_Channel { class RC_Channel {