Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AntennaTracker: Fix up after refactoring RC_Channel class

Browse Source 
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
This commit is contained in:
skyscraper 2016-05-08 09:51:39 +01:00 committed by Andrew Tridgell
parent 8c9e55edfa
commit 662cefd086
4 changed files with 38 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
AntennaTracker/control_manual.cpp
View File

@ -13,8 +13,8 @@
void Tracker::update_manual(void)
{
// copy yaw and pitch input to output
channel_yaw.radio_out = constrain_int16(channel_yaw.radio_in, channel_yaw.radio_min, channel_yaw.radio_max);
channel_pitch.radio_out = constrain_int16(channel_pitch.radio_in, channel_pitch.radio_min, channel_pitch.radio_max);
channel_yaw.set_radio_out(constrain_int16(channel_yaw.get_radio_in(), channel_yaw.get_radio_min(), channel_yaw.get_radio_max()));
channel_pitch.set_radio_out(constrain_int16(channel_pitch.get_radio_in(), channel_pitch.get_radio_min(), channel_pitch.get_radio_max()));
// send output to servos
channel_yaw.output();

4
AntennaTracker/control_servo_test.cpp
View File

@ -27,13 +27,13 @@ bool Tracker::servo_test_set_servo(uint8_t servo_num, uint16_t pwm)
// set yaw servo pwm and send output to servo
if (servo_num == CH_YAW) {
channel_yaw.radio_out = constrain_int16(pwm, channel_yaw.radio_min, channel_yaw.radio_max);
channel_yaw.set_radio_out(constrain_int16(pwm, channel_yaw.get_radio_min(), channel_yaw.get_radio_max()));
channel_yaw.output();
}
// set pitch servo pwm and send output to servo
if (servo_num == CH_PITCH) {
channel_pitch.radio_out = constrain_int16(pwm, channel_pitch.radio_min, channel_pitch.radio_max);
channel_pitch.set_radio_out(constrain_int16(pwm, channel_pitch.get_radio_min(), channel_pitch.get_radio_max()));
channel_pitch.output();
}

64
AntennaTracker/servos.cpp
View File

@ -78,7 +78,7 @@ void Tracker::update_pitch_position_servo(float pitch)
// PITCH2SRV_IMAX 4000.000000
// calculate new servo position
int32_t new_servo_out = channel_pitch.servo_out + g.pidPitch2Srv.get_pid(angle_err);
int32_t new_servo_out = channel_pitch.get_servo_out() + g.pidPitch2Srv.get_pid(angle_err);
// initialise limit flags
servo_limit.pitch_lower = false;
@ -90,24 +90,24 @@ void Tracker::update_pitch_position_servo(float pitch)
if (max_change < 1) {
max_change = 1;
}
if (new_servo_out <= channel_pitch.servo_out - max_change) {
new_servo_out = channel_pitch.servo_out - max_change;
if (new_servo_out <= channel_pitch.get_servo_out() - max_change) {
new_servo_out = channel_pitch.get_servo_out() - max_change;
servo_limit.pitch_lower = true;
}
if (new_servo_out >= channel_pitch.servo_out + max_change) {
new_servo_out = channel_pitch.servo_out + max_change;
if (new_servo_out >= channel_pitch.get_servo_out() + max_change) {
new_servo_out = channel_pitch.get_servo_out() + max_change;
servo_limit.pitch_upper = true;
}
}
channel_pitch.servo_out = new_servo_out;
channel_pitch.set_servo_out(new_servo_out);
// position limit pitch servo
if (channel_pitch.servo_out <= -pitch_limit_cd) {
channel_pitch.servo_out = -pitch_limit_cd;
if (channel_pitch.get_servo_out() <= -pitch_limit_cd) {
channel_pitch.set_servo_out(-pitch_limit_cd);
servo_limit.pitch_lower = true;
}
if (channel_pitch.servo_out >= pitch_limit_cd) {
channel_pitch.servo_out = pitch_limit_cd;
if (channel_pitch.get_servo_out() >= pitch_limit_cd) {
channel_pitch.set_servo_out(pitch_limit_cd);
servo_limit.pitch_upper = true;
}
}
@ -121,21 +121,21 @@ void Tracker::update_pitch_onoff_servo(float pitch)
{
// degrees(ahrs.pitch) is -90 to 90, where 0 is horizontal
// pitch argument is -90 to 90, where 0 is horizontal
// servo_out is in 100ths of a degree
// get_servo_out() is in 100ths of a degree
float ahrs_pitch = degrees(ahrs.pitch);
float err = ahrs_pitch - pitch;
float acceptable_error = g.onoff_pitch_rate * g.onoff_pitch_mintime;
if (fabsf(err) < acceptable_error) {
channel_pitch.servo_out = 0;
channel_pitch.set_servo_out(0);
} else if (err > 0) {
// positive error means we are pointing too high, so push the
// servo down
channel_pitch.servo_out = -9000;
channel_pitch.set_servo_out(-9000);
} else {
// negative error means we are pointing too low, so push the
// servo up
channel_pitch.servo_out = 9000;
channel_pitch.set_servo_out(9000);
}
}
@ -146,7 +146,7 @@ void Tracker::update_pitch_cr_servo(float pitch)
{
float ahrs_pitch = degrees(ahrs.pitch);
float err_cd = (pitch - ahrs_pitch) * 100.0f;
channel_pitch.servo_out = g.pidPitch2Srv.get_pid(err_cd);
channel_pitch.set_servo_out(g.pidPitch2Srv.get_pid(err_cd));
}
/**
@ -229,13 +229,13 @@ void Tracker::update_yaw_position_servo(float yaw)
}
// handle hitting servo limits
if (abs(channel_yaw.servo_out) == 18000 &&
if (abs(channel_yaw.get_servo_out()) == 18000 &&
labs(angle_err) > margin &&
making_progress &&
AP_HAL::millis() - slew_start_ms > g.min_reverse_time*1000) {
// we are at the limit of the servo and are not moving in the
// right direction, so slew the other way
new_slew_dir = -channel_yaw.servo_out / 18000;
new_slew_dir = -channel_yaw.get_servo_out() / 18000;
slew_start_ms = AP_HAL::millis();
}
@ -251,7 +251,7 @@ void Tracker::update_yaw_position_servo(float yaw)
tracker.gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Slew: %d/%d err=%ld servo=%ld ez=%.3f",
(int)slew_dir, (int)new_slew_dir,
(long)angle_err,
(long)channel_yaw.servo_out,
(long)channel_yaw.get_servo_out(),
(double)degrees(ahrs.get_gyro().z));
}
@ -268,7 +268,7 @@ void Tracker::update_yaw_position_servo(float yaw)
} else {
float servo_change = g.pidYaw2Srv.get_pid(angle_err);
servo_change = constrain_float(servo_change, -18000, 18000);
new_servo_out = constrain_float(channel_yaw.servo_out - servo_change, -18000, 18000);
new_servo_out = constrain_float(channel_yaw.get_servo_out() - servo_change, -18000, 18000);
}
// rate limit yaw servo
@ -277,24 +277,24 @@ void Tracker::update_yaw_position_servo(float yaw)
if (max_change < 1) {
max_change = 1;
}
if (new_servo_out <= channel_yaw.servo_out - max_change) {
new_servo_out = channel_yaw.servo_out - max_change;
if (new_servo_out <= channel_yaw.get_servo_out() - max_change) {
new_servo_out = channel_yaw.get_servo_out() - max_change;
servo_limit.yaw_lower = true;
}
if (new_servo_out >= channel_yaw.servo_out + max_change) {
new_servo_out = channel_yaw.servo_out + max_change;
if (new_servo_out >= channel_yaw.get_servo_out() + max_change) {
new_servo_out = channel_yaw.get_servo_out() + max_change;
servo_limit.yaw_upper = true;
}
}
channel_yaw.servo_out = new_servo_out;
channel_yaw.set_servo_out(new_servo_out);
// position limit pitch servo
if (channel_yaw.servo_out <= -yaw_limit_cd) {
channel_yaw.servo_out = -yaw_limit_cd;
if (channel_yaw.get_servo_out() <= -yaw_limit_cd) {
channel_yaw.set_servo_out(-yaw_limit_cd);
servo_limit.yaw_lower = true;
}
if (channel_yaw.servo_out >= yaw_limit_cd) {
channel_yaw.servo_out = yaw_limit_cd;
if (channel_yaw.get_servo_out() >= yaw_limit_cd) {
channel_yaw.set_servo_out(yaw_limit_cd);
servo_limit.yaw_upper = true;
}
}
@ -314,15 +314,15 @@ void Tracker::update_yaw_onoff_servo(float yaw)
float acceptable_error = g.onoff_yaw_rate * g.onoff_yaw_mintime;
if (fabsf(err) < acceptable_error) {
channel_yaw.servo_out = 0;
channel_yaw.set_servo_out(0);
} else if (err > 0) {
// positive error means we are clockwise of the target, so
// move anti-clockwise
channel_yaw.servo_out = -18000;
channel_yaw.set_servo_out(-18000);
} else {
// negative error means we are anti-clockwise of the target, so
// move clockwise
channel_yaw.servo_out = 18000;
channel_yaw.set_servo_out(18000);
}
}
@ -335,5 +335,5 @@ void Tracker::update_yaw_cr_servo(float yaw)
float yaw_cd = wrap_180_cd_float(yaw*100.0f);
float err_cd = wrap_180_cd(yaw_cd - (float)ahrs_yaw_cd);
channel_yaw.servo_out = g.pidYaw2Srv.get_pid(err_cd);
channel_yaw.set_servo_out(g.pidYaw2Srv.get_pid(err_cd));
}

4
AntennaTracker/system.cpp
View File

@ -189,8 +189,8 @@ void Tracker::disarm_servos()
void Tracker::prepare_servos()
{
start_time_ms = AP_HAL::millis();
channel_yaw.radio_out = channel_yaw.radio_trim;
channel_pitch.radio_out = channel_pitch.radio_trim;
channel_yaw.set_radio_out(channel_yaw.get_radio_trim());
channel_pitch.set_radio_out(channel_pitch.get_radio_trim());
channel_yaw.output();
channel_pitch.output();
}