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RC_Channel: added set_aux_channel_default() API

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this will allow for a default channel for aux functions. Also adds
heli_rsc and heli_tail_rsc functions
This commit is contained in:
Andrew Tridgell 2015-12-05 21:07:51 +11:00
parent 2c78b4f537
commit 6a58264c6b
2 changed files with 80 additions and 39 deletions
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110
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -12,7 +12,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] = {
// @Param: FUNCTION
// @DisplayName: Servo out function
// @Description: Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
// @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute,28:EPM,29:LandingGear,30:EngineRunEnable
// @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoiler1,17:DifferentialSpoiler2,18:AileronWithInput,19:Elevator,20:ElevatorWithInput,21:Rudder,24:Flaperon1,25:Flaperon2,26:GroundSteering,27:Parachute,28:EPM,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC
// @User: Standard
AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function, 0),
@ -20,7 +20,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] = {
};
RC_Channel_aux *RC_Channel_aux::_aux_channels[RC_AUX_MAX_CHANNELS];
uint32_t RC_Channel_aux::_function_mask;
uint64_t RC_Channel_aux::_function_mask;
/// map a function to a servo channel and output it
void
@ -78,6 +78,44 @@ RC_Channel_aux::Aux_servo_function_t RC_Channel_aux::channel_function(uint8_t ch
return RC_Channel_aux::k_none;
}
/*
setup a channels aux servo function
*/
void RC_Channel_aux::aux_servo_function_setup(void)
{
switch (function) {
case RC_Channel_aux::k_flap:
case RC_Channel_aux::k_flap_auto:
case RC_Channel_aux::k_egg_drop:
set_range_out(0,100);
break;
case RC_Channel_aux::k_heli_rsc:
case RC_Channel_aux::k_heli_tail_rsc:
set_range_out(0,1000);
break;
case RC_Channel_aux::k_aileron_with_input:
case RC_Channel_aux::k_elevator_with_input:
set_angle(4500);
break;
case RC_Channel_aux::k_aileron:
case RC_Channel_aux::k_elevator:
case RC_Channel_aux::k_dspoiler1:
case RC_Channel_aux::k_dspoiler2:
case RC_Channel_aux::k_rudder:
case RC_Channel_aux::k_steering:
case RC_Channel_aux::k_flaperon1:
case RC_Channel_aux::k_flaperon2:
set_angle_out(4500);
break;
default:
break;
}
if (function < k_nr_aux_servo_functions) {
_function_mask |= (1ULL<<(uint8_t)function);
}
}
/// Update the _aux_channels array of pointers to rc_x channels
/// 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
@ -87,47 +125,16 @@ RC_Channel_aux::Aux_servo_function_t RC_Channel_aux::channel_function(uint8_t ch
/// (do not call this twice with different parameters, the second call will reset the effect of the first call)
void RC_Channel_aux::update_aux_servo_function(void)
{
_function_mask = 0;
// set auxiliary ranges
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] == NULL) continue;
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
switch (function) {
case RC_Channel_aux::k_flap:
case RC_Channel_aux::k_flap_auto:
case RC_Channel_aux::k_egg_drop:
_aux_channels[i]->set_range_out(0,100);
break;
case RC_Channel_aux::k_aileron_with_input:
case RC_Channel_aux::k_elevator_with_input:
_aux_channels[i]->set_angle(4500);
break;
case RC_Channel_aux::k_aileron:
case RC_Channel_aux::k_elevator:
case RC_Channel_aux::k_dspoiler1:
case RC_Channel_aux::k_dspoiler2:
case RC_Channel_aux::k_rudder:
case RC_Channel_aux::k_steering:
case RC_Channel_aux::k_flaperon1:
case RC_Channel_aux::k_flaperon2:
_aux_channels[i]->set_angle_out(4500);
break;
default:
break;
}
}
// create a function mask to make updates master
_function_mask = 0;
for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i]) {
RC_Channel_aux::Aux_servo_function_t function = (RC_Channel_aux::Aux_servo_function_t)_aux_channels[i]->function.get();
if (function < k_nr_aux_servo_functions) {
_function_mask |= (1UL<<(uint8_t)function);
}
}
_aux_channels[i]->aux_servo_function_setup();
}
}
/// Should be called after the the servo functions have been initialized
void RC_Channel_aux::enable_aux_servos()
{
@ -341,7 +348,7 @@ bool
RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t function)
{
if (function < k_nr_aux_servo_functions) {
return (_function_mask & (1UL<<function)) != 0;
return (_function_mask & (1ULL<<function)) != 0;
}
return false;
}
@ -366,3 +373,30 @@ RC_Channel_aux::move_servo(RC_Channel_aux::Aux_servo_function_t function,
}
}
}
/*
set the default channel an auxillary output function should be on
*/
bool RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::Aux_servo_function_t function, uint8_t channel)
{
if (function_assigned(function)) {
// already assigned
return true;
}
for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->_ch_out == channel) {
if (_aux_channels[i]->function != k_none) {
hal.console->printf("Channel %u already assigned %u\n",
(unsigned)channel,
(unsigned)_aux_channels[i]->function);
return false;
}
_aux_channels[i]->function.set(function);
_aux_channels[i]->aux_servo_function_setup();
return true;
}
}
hal.console->printf("AUX channel %u not available\n",
(unsigned)channel);
return false;
}

9
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -66,6 +66,8 @@ public:
k_epm = 28, ///< epm gripper
k_landing_gear_control = 29, ///< landing gear controller
k_engine_run_enable = 30, ///< engine kill switch, used for gas airplanes and helicopters
k_heli_rsc = 31, ///< helicopter RSC output
k_heli_tail_rsc = 32, ///< helicopter tail RSC output
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t;
@ -128,9 +130,14 @@ public:
// refresh aux servo to function mapping
static void update_aux_servo_function(void);
// set default channel for an auxillary function
static bool set_aux_channel_default(Aux_servo_function_t function, uint8_t channel);
private:
static uint32_t _function_mask;
static uint64_t _function_mask;
static RC_Channel_aux *_aux_channels[RC_AUX_MAX_CHANNELS];
void aux_servo_function_setup(void);
};
#endif /* RC_CHANNEL_AUX_H_ */