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RC_Channel_aux: added enable_out method to help stop servos from moving before the mount has initialised. 

changed parameter names of "update_aux_servo_function" to make it more clear that any 4 servos can be passed in (not just servos 5~8).
Also allowed NULL servos to be passed in as parameters because we only need 3 in ArduCopter.
This commit is contained in:
rmackay9 2012-07-15 16:28:53 +09:00
parent 5616b1769b
commit 669ffb5ef8
2 changed files with 30 additions and 12 deletions
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38
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -9,7 +9,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
// @Param: FUNCTION
// @DisplayName: Servo out function
// @Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function
// @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release
// @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_pitch,8:mount_roll,9:mount_open,10:camera_trigger,11:release
// @User: Standard
AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function),
@ -98,6 +98,16 @@ RC_Channel_aux::angle_input_rad()
return radians(angle_input()*0.01);
}
/// enable_out_ch - enable the channel through APM_RC
void
RC_Channel_aux::enable_out_ch(unsigned char ch_nr)
{
// enable_out this channel if it assigned to a function
if( function != k_none ) {
_apm_rc->enable_out(ch_nr);
}
}
/// map a function to a servo channel and output it
void
RC_Channel_aux::output_ch(unsigned char ch_nr)
@ -112,7 +122,6 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
radio_out = radio_in;
break;
}
_apm_rc->OutputCh(ch_nr, radio_out);
}
@ -120,14 +129,21 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
/// This is to be done before rc_init so that the channels get correctly initialized.
/// It also should be called periodically because the user might change the configuration and
/// expects the changes to take effect instantly
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)
void update_aux_servo_function(RC_Channel_aux* rc_a, RC_Channel_aux* rc_b, RC_Channel_aux* rc_c, RC_Channel_aux* rc_d)
{
// 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
RC_Channel_aux::Aux_servo_function_t aux_servo_function[4];
aux_servo_function[0] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
aux_servo_function[1] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
aux_servo_function[2] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
aux_servo_function[3] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
// initialise array
aux_servo_function[0] = RC_Channel_aux::k_none;
aux_servo_function[1] = RC_Channel_aux::k_none;
aux_servo_function[2] = RC_Channel_aux::k_none;
aux_servo_function[3] = RC_Channel_aux::k_none;
if( rc_a != NULL ) { aux_servo_function[0] = (RC_Channel_aux::Aux_servo_function_t)rc_a->function.get(); }
if( rc_b != NULL ) { aux_servo_function[1] = (RC_Channel_aux::Aux_servo_function_t)rc_b->function.get(); }
if( rc_c != NULL ) { aux_servo_function[2] = (RC_Channel_aux::Aux_servo_function_t)rc_c->function.get(); }
if( rc_d != NULL ) { aux_servo_function[3] = (RC_Channel_aux::Aux_servo_function_t)rc_d->function.get(); }
for (uint8_t i = 0; i < 4; i++) {
if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {
@ -143,10 +159,10 @@ void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Ch
}
// assign the RC channel to each function
g_rc_function[aux_servo_function[0]] = rc_5;
g_rc_function[aux_servo_function[1]] = rc_6;
g_rc_function[aux_servo_function[2]] = rc_7;
g_rc_function[aux_servo_function[3]] = rc_8;
if( rc_a != NULL ) { g_rc_function[aux_servo_function[0]] = rc_a; }
if( rc_b != NULL ) { g_rc_function[aux_servo_function[1]] = rc_b; }
if( rc_c != NULL ) { g_rc_function[aux_servo_function[2]] = rc_c; }
if( rc_d != NULL ) { g_rc_function[aux_servo_function[3]] = rc_d; }
//set auxiliary ranges
G_RC_AUX(k_flap)->set_range(0,100);

4
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -59,12 +59,14 @@ public:
float angle_input_rad();
void enable_out_ch(unsigned char ch_nr);
void output_ch(unsigned char ch_nr);
static const struct AP_Param::GroupInfo var_info[];
};
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);
void update_aux_servo_function(RC_Channel_aux* rc_a = NULL, RC_Channel_aux* rc_b = NULL, RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL);
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
#endif /* RC_CHANNEL_AUX_H_ */