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AP_Mount: Enable Joystick speed code, now that the framework supports more than 16 parameters per group.

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Save some bytes by skiping the redundant *_rc_in initialization in the AP_Mount() constructor
This commit is contained in:
Amilcar Lucas 2012-08-08 22:45:36 +02:00
parent a8c99f3887
commit 530ea0bebd
2 changed files with 7 additions and 13 deletions
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18
libraries/AP_Mount/AP_Mount.cpp
View File

@ -135,16 +135,15 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
AP_GROUPINFO("PAN_ANGMAX", 15, AP_Mount, _pan_angle_max, 4500), AP_GROUPINFO("PAN_ANGMAX", 15, AP_Mount, _pan_angle_max, 4500),
/*
Must be commented out because the framework does not support more than 16 parameters
// @Param: JOYSTICK_SPEED // @Param: JOYSTICK_SPEED
// @DisplayName: mount joystick speed // @DisplayName: mount joystick speed
// @Description: 0 for position control, small for low speeds, 10 for max speed // @Description: 0 for position control, small for low speeds, 10 for max speed
// @Range: 0 10 // @Range: 0 10
// @Increment: 1 // @Increment: 1
// @User: Standard // @User: Standard
AP_GROUPINFO("JOYSTICK_SPEED", 16, AP_Mount, _joystick_speed), AP_GROUPINFO("JOYSTICK_SPEED", 16, AP_Mount, _joystick_speed, 0),
*/
AP_GROUPEND AP_GROUPEND
}; };
@ -164,11 +163,6 @@ _gps(gps)
// default unknown mount type // default unknown mount type
_mount_type = k_unknown; _mount_type = k_unknown;
// default manual rc channel to disabled
_pan_rc_in = 0;
_tilt_rc_in= 0;
_roll_rc_in= 0;
} }
/// Auto-detect the mount gimbal type depending on the functions assigned to the servos /// Auto-detect the mount gimbal type depending on the functions assigned to the servos
@ -254,7 +248,7 @@ void AP_Mount::update_mount_position()
// RC radio manual angle control, but with stabilization from the AHRS // RC radio manual angle control, but with stabilization from the AHRS
case MAV_MOUNT_MODE_RC_TARGETING: case MAV_MOUNT_MODE_RC_TARGETING:
{ {
/* if (_joystick_speed) { // for spring loaded joysticks if (_joystick_speed) { // for spring loaded joysticks
// allow pilot speed position input to come directly from an RC_Channel // allow pilot speed position input to come directly from an RC_Channel
if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) { if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) {
//_roll_control_angle += angle_input(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max) * 0.00001 * _joystick_speed; //_roll_control_angle += angle_input(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max) * 0.00001 * _joystick_speed;
@ -275,7 +269,7 @@ void AP_Mount::update_mount_position()
if (_pan_control_angle > radians(_pan_angle_max*0.01)) _pan_control_angle = radians(_pan_angle_max*0.01); if (_pan_control_angle > radians(_pan_angle_max*0.01)) _pan_control_angle = radians(_pan_angle_max*0.01);
} }
} else { } else {
*/ // allow pilot position input to come directly from an RC_Channel // allow pilot position input to come directly from an RC_Channel
if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) { if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) {
_roll_control_angle = angle_input_rad(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max); _roll_control_angle = angle_input_rad(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max);
} }
@ -285,7 +279,7 @@ void AP_Mount::update_mount_position()
if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) { if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) {
_pan_control_angle = angle_input_rad(rc_ch[_pan_rc_in-1], _pan_angle_min, _pan_angle_max); _pan_control_angle = angle_input_rad(rc_ch[_pan_rc_in-1], _pan_angle_min, _pan_angle_max);
} }
// } }
stabilize(); stabilize();
break; break;
} }

2
libraries/AP_Mount/AP_Mount.h
View File

@ -111,7 +111,7 @@ private:
AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
//AP_Int8 _joystick_speed; AP_Int8 _joystick_speed;
AP_Vector3f _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan AP_Vector3f _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan AP_Vector3f _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan