mirror of https://github.com/ArduPilot/ardupilot
Moved update_aux_servo_function() to the RC_Channel_aux.* files.
This simplifies code sharing between ArduCopter and Arduplane at the expense of 48bytes. Moved CH_x defines out of the defines.h file and into the library where they belong
This commit is contained in:
Amilcar Lucas
parent
966f9f962a
commit
5a27954e26
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@ -735,7 +735,7 @@ static void slow_loop()
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// ----------------------------------
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update_servo_switches();
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update_aux_servo_function();
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
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#if CAMERA == ENABLED
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camera_mount.update_mount_type();
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@ -41,19 +41,6 @@
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#define GPS_PROTOCOL_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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// Radio channels
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// Note channels are from 0!
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//
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// XXX these should be CH_n defines from RC.h at some point.
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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#define CH_THROTTLE CH_3
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@ -195,7 +195,7 @@ static void trim_control_surfaces()
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g.channel_roll.radio_trim = g.channel_roll.radio_in;
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g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
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g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
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if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
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if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
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}else{
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elevon1_trim = ch1_temp;
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@ -212,7 +212,7 @@ static void trim_control_surfaces()
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g.channel_pitch.save_eeprom();
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g.channel_throttle.save_eeprom();
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g.channel_rudder.save_eeprom();
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if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
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if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
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}
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static void trim_radio()
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@ -228,7 +228,7 @@ static void trim_radio()
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g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
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//g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
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g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
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if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
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if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
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} else {
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elevon1_trim = ch1_temp;
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@ -244,30 +244,5 @@ static void trim_radio()
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g.channel_pitch.save_eeprom();
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//g.channel_throttle.save_eeprom();
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g.channel_rudder.save_eeprom();
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if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
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}
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// update the g_rc_function array from pointers to rc_x channels
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// This should be done periodically because the user might change the configuration and
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// expects the changes to take effect instantly
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static void update_aux_servo_function()
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{
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// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
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RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
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aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)g.rc_5.function.get();
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aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)g.rc_6.function.get();
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aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)g.rc_7.function.get();
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aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)g.rc_8.function.get();
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// Assume that no auxiliary function is used
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for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
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{
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g_rc_function[i] = NULL;
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}
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// assign the RC channel to each function
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g_rc_function[aux_servo_function[CH_5]] = &g.rc_5;
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g_rc_function[aux_servo_function[CH_6]] = &g.rc_6;
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g_rc_function[aux_servo_function[CH_7]] = &g.rc_7;
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g_rc_function[aux_servo_function[CH_8]] = &g.rc_8;
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if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
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}
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@ -5,6 +5,17 @@
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#define MIN_PULSEWIDTH 900
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#define MAX_PULSEWIDTH 2100
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// Radio channels
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// Note channels are from 0!
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#include <inttypes.h>
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class APM_RC_Class
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@ -3,6 +3,8 @@
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#include <APM_RC.h>
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#include "RC_Channel_aux.h"
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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int16_t
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RC_Channel_aux::closest_limit(int16_t angle)
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{
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@ -67,3 +69,28 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
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APM_RC.OutputCh(ch_nr, radio_out);
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}
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// update the g_rc_function array from pointers to rc_x channels
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// This should be done periodically because the user might change the configuration and
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// expects the changes to take effect instantly
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void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
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{
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// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
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RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
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aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
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aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
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aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
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aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
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// Assume that no auxiliary function is used
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for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
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{
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g_rc_function[i] = NULL;
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}
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// assign the RC channel to each function
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g_rc_function[aux_servo_function[CH_5]] = rc_5;
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g_rc_function[aux_servo_function[CH_6]] = rc_6;
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g_rc_function[aux_servo_function[CH_7]] = rc_7;
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g_rc_function[aux_servo_function[CH_8]] = rc_8;
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}
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@ -1,7 +1,7 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file RC_Channel_aux.h
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/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
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/// @brief RC_Channel manager for Channels 5..8, with EEPROM-backed storage of constants.
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/// @author Amilcar Lucas
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#ifndef RC_CHANNEL_AUX_H_
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@ -53,4 +53,6 @@ public:
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};
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void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8);
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#endif /* RC_CHANNEL_AUX_H_ */
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