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RC_Channel: Allow an input to be ignored

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This commit is contained in:
Michael du Breuil 2018-07-24 18:50:01 -07:00 committed by Andrew Tridgell
parent 37f7cc4bcf
commit 60f19bbf02
3 changed files with 30 additions and 20 deletions
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20
libraries/RC_Channel/RC_Channel.cpp
View File

@ -108,14 +108,16 @@ RC_Channel::get_reverse(void) const
return bool(reversed.get());
}
// read input from APM_RC - create a control_in value
void
RC_Channel::set_pwm(int16_t pwm)
// read input from hal.rcin or overrides
bool
RC_Channel::update(void)
{
if (has_override()) {
if (has_override() && !(*RC_Channels::options & RC_IGNORE_OVERRIDES)) {
radio_in = override_value;
} else if (!(*RC_Channels::options & RC_IGNORE_RECEIVER)) {
radio_in = hal.rcin->read(ch_in);
} else {
radio_in = pwm;
return false;
}
if (type_in == RC_CHANNEL_TYPE_RANGE) {
@ -124,6 +126,8 @@ RC_Channel::set_pwm(int16_t pwm)
//RC_CHANNEL_TYPE_ANGLE
control_in = pwm_to_angle();
}
return true;
}
// recompute control values with no deadzone
@ -299,12 +303,6 @@ RC_Channel::percent_input()
return ret;
}
uint16_t
RC_Channel::read() const
{
return hal.rcin->read(ch_in);
}
/*
Return true if the channel is at trim and within the DZ
*/

12
libraries/RC_Channel/RC_Channel.h
View File

@ -26,6 +26,11 @@ public:
RC_CHANNEL_LIMIT_MAX
};
enum InputIgnore {
RC_IGNORE_RECEIVER = (1 << 0), // RC reciever modules
RC_IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
};
// setup the control preferences
void set_range(uint16_t high);
void set_angle(uint16_t angle);
@ -37,7 +42,7 @@ public:
int16_t get_control_mid() const;
// read input from hal.rcin - create a control_in value
void set_pwm(int16_t pwm);
bool update(void);
void recompute_pwm_no_deadzone();
// calculate an angle given dead_zone and trim. This is used by the quadplane code
@ -60,9 +65,6 @@ public:
int16_t pwm_to_range();
int16_t pwm_to_range_dz(uint16_t dead_zone);
// read the input value from hal.rcin for this channel
uint16_t read() const;
static const struct AP_Param::GroupInfo var_info[];
// return true if input is within deadzone of trim
@ -164,6 +166,8 @@ private:
static RC_Channel *channels;
static bool has_new_overrides;
static AP_Float *override_timeout;
static AP_Int32 *options;
RC_Channel obj_channels[NUM_RC_CHANNELS];
AP_Float _override_timeout;
AP_Int32 _options;
};

18
libraries/RC_Channel/RC_Channels.cpp
View File

@ -31,6 +31,7 @@ extern const AP_HAL::HAL& hal;
RC_Channel *RC_Channels::channels;
bool RC_Channels::has_new_overrides;
AP_Float *RC_Channels::override_timeout;
AP_Int32 *RC_Channels::options;
const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @Group: 1_
@ -105,6 +106,13 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @Units: s
AP_GROUPINFO("_OVERRIDE_TIME", 32, RC_Channels, _override_timeout, 3.0),
// @Param: _OPTIONS
// @DisplayName: RC options
// @Description: RC input options
// @User: Advanced
// @Bitmask: 0:Ignore RC Reciever, 1:Ignore MAVLink Overrides
AP_GROUPINFO("_OPTIONS", 33, RC_Channels, _options, 0),
AP_GROUPEND
};
@ -117,6 +125,7 @@ RC_Channels::RC_Channels(void)
channels = obj_channels;
override_timeout = &_override_timeout;
options = &_options;
// set defaults from the parameter table
AP_Param::setup_object_defaults(this, var_info);
@ -150,9 +159,7 @@ uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
return read_channels;
}
/*
call read() and set_pwm() on all channels if there is new data
*/
// update all the input channels
bool
RC_Channels::read_input(void)
{
@ -162,11 +169,12 @@ RC_Channels::read_input(void)
has_new_overrides = false;
bool success = false;
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
channels[i].set_pwm(channels[i].read());
success |= channels[i].update();
}
return true;
return success;
}
uint8_t RC_Channels::get_valid_channel_count(void)