RC_Channel: update examples for new rc() method

libraries/RC_Channel/examples/RC_Channel/RC_Channel.cpp

@@ -13,8 +13,100 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 #define NUM_CHANNELS 8
 
-static RC_Channels rc_channels;
+class RC_Channel_Example : public RC_Channel
-static RC_Channel *rc;
+{
+};
+
+class RC_Channels_Example : public RC_Channels
+{
+public:
+
+    RC_Channel_Example obj_channels[NUM_RC_CHANNELS];
+
+    RC_Channel_Example *channel(const uint8_t chan) override {
+        if (chan > NUM_RC_CHANNELS) {
+            return nullptr;
+        }
+        return &obj_channels[chan];
+    }
+
+protected:
+
+    int8_t flight_mode_channel_number() const { return 5; }
+
+private:
+
+};
+
+const AP_Param::GroupInfo RC_Channels::var_info[] = {
+    // @Group: 1_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[0], "1_",  1, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 2_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[1], "2_",  2, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 3_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[2], "3_",  3, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 4_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[3], "4_",  4, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 5_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[4], "5_",  5, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 6_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[5], "6_",  6, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 7_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[6], "7_",  7, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 8_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[7], "8_",  8, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 9_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[8], "9_",  9, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 10_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 11_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 12_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 13_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 14_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 15_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels_Example, RC_Channel_Example),
+
+    // @Group: 16_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels_Example, RC_Channel_Example),
+
+    AP_GROUPEND
+};
+
+static RC_Channels_Example rc_channels;
 
 static void print_pwm(void);
 static void print_radio_values();
@@ -24,34 +116,33 @@ void setup()
 {
     hal.console->printf("ArduPilot RC Channel test\n");
 
-    rc = RC_Channels::rc_channel(CH_1);
-    
     print_radio_values();
 
     // set type of output, symmetrical angles or a number range;
-    rc[CH_1].set_angle(4500);
+    rc().channel(CH_1)->set_angle(4500);
-    rc[CH_1].set_default_dead_zone(80);
+    rc().channel(CH_1)->set_default_dead_zone(80);
 
-    rc[CH_2].set_angle(4500);
+    rc().channel(CH_2)->set_angle(4500);
-    rc[CH_2].set_default_dead_zone(80);
+    rc().channel(CH_2)->set_default_dead_zone(80);
 
-    rc[CH_3].set_range(1000);
+    rc().channel(CH_3)->set_range(1000);
-    rc[CH_3].set_default_dead_zone(20);
+    rc().channel(CH_3)->set_default_dead_zone(20);
 
-    rc[CH_4].set_angle(6000);
+    rc().channel(CH_4)->set_angle(6000);
-    rc[CH_4].set_default_dead_zone(500);
+    rc().channel(CH_4)->set_default_dead_zone(500);
 
-    rc[CH_5].set_range(1000);
+    rc().channel(CH_5)->set_range(1000);
-    rc[CH_6].set_range(800);
 
-    rc[CH_7].set_range(1000);
+    rc().channel(CH_6)->set_range(800);
 
-    rc[CH_8].set_range(1000);
+    rc().channel(CH_7)->set_range(1000);
+
+    rc().channel(CH_8)->set_range(1000);
 }
 
 void loop()
 {
-    RC_Channels::read_input();
+    rc().read_input();
     print_pwm();
     
     hal.scheduler->delay(20);
@@ -60,7 +151,7 @@ void loop()
 static void print_pwm(void)
 {
     for (int i=0; i<NUM_CHANNELS; i++) {
-	    hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].get_control_in());
+	    hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc().channel(i)->get_control_in());
     }
     hal.console->printf("\n");
 }
@@ -71,8 +162,8 @@ static void print_radio_values()
     for (int i=0; i<NUM_CHANNELS; i++) {
 	     hal.console->printf("CH%u: %u|%u\n",
 			  (unsigned)i+1,
-			  (unsigned)rc[i].get_radio_min(), 
+              (unsigned)rc().channel(i)->get_radio_min(),
-			  (unsigned)rc[i].get_radio_max()); 
+			  (unsigned)rc().channel(i)->get_radio_max());
     }
 }