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SRV_Channel: fixed build warnings

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This commit is contained in:
Andrew Tridgell 2018-10-12 10:44:00 +11:00
parent 93dbcf88b8
commit 6af709e617
1 changed files with 37 additions and 37 deletions
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74
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -291,9 +291,9 @@ SRV_Channels::set_failsafe_pwm(SRV_Channel::Aux_servo_function_t function, uint1
return; return;
} }
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
const SRV_Channel &ch = channels[i]; const SRV_Channel &c = channels[i];
if (ch.function.get() == function) { if (c.function.get() == function) {
hal.rcout->set_failsafe_pwm(1U<<ch.ch_num, pwm); hal.rcout->set_failsafe_pwm(1U<<c.ch_num, pwm);
} }
} }
} }
@ -308,10 +308,10 @@ SRV_Channels::set_failsafe_limit(SRV_Channel::Aux_servo_function_t function, SRV
return; return;
} }
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
const SRV_Channel &ch = channels[i]; const SRV_Channel &c = channels[i];
if (ch.function.get() == function) { if (c.function.get() == function) {
uint16_t pwm = ch.get_limit_pwm(limit); uint16_t pwm = c.get_limit_pwm(limit);
hal.rcout->set_failsafe_pwm(1U<<ch.ch_num, pwm); hal.rcout->set_failsafe_pwm(1U<<c.ch_num, pwm);
} }
} }
} }
@ -326,10 +326,10 @@ SRV_Channels::set_safety_limit(SRV_Channel::Aux_servo_function_t function, SRV_C
return; return;
} }
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
const SRV_Channel &ch = channels[i]; const SRV_Channel &c = channels[i];
if (ch.function.get() == function) { if (c.function.get() == function) {
uint16_t pwm = ch.get_limit_pwm(limit); uint16_t pwm = c.get_limit_pwm(limit);
hal.rcout->set_safety_pwm(1U<<ch.ch_num, pwm); hal.rcout->set_safety_pwm(1U<<c.ch_num, pwm);
} }
} }
} }
@ -344,16 +344,16 @@ SRV_Channels::set_output_limit(SRV_Channel::Aux_servo_function_t function, SRV_C
return; return;
} }
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &ch = channels[i]; SRV_Channel &c = channels[i];
if (ch.function.get() == function) { if (c.function.get() == function) {
uint16_t pwm = ch.get_limit_pwm(limit); uint16_t pwm = c.get_limit_pwm(limit);
ch.set_output_pwm(pwm); c.set_output_pwm(pwm);
if (ch.function.get() == SRV_Channel::k_manual) { if (c.function.get() == SRV_Channel::k_manual) {
RC_Channel *c = rc().channel(ch.ch_num); RC_Channel *cin = rc().channel(c.ch_num);
if (c != nullptr) { if (cin != nullptr) {
// in order for output_ch() to work for k_manual we // in order for output_ch() to work for k_manual we
// also have to override radio_in // also have to override radio_in
c->set_radio_in(pwm); cin->set_radio_in(pwm);
} }
} }
} }
@ -386,11 +386,11 @@ SRV_Channels::move_servo(SRV_Channel::Aux_servo_function_t function,
float v = float(value - angle_min) / float(angle_max - angle_min); float v = float(value - angle_min) / float(angle_max - angle_min);
v = constrain_float(v, 0.0f, 1.0f); v = constrain_float(v, 0.0f, 1.0f);
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &ch = channels[i]; SRV_Channel &c = channels[i];
if (ch.function.get() == function) { if (c.function.get() == function) {
float v2 = ch.get_reversed()? (1-v) : v; float v2 = c.get_reversed()? (1-v) : v;
uint16_t pwm = ch.servo_min + v2 * (ch.servo_max - ch.servo_min); uint16_t pwm = c.servo_min + v2 * (c.servo_max - c.servo_min);
ch.set_output_pwm(pwm); c.set_output_pwm(pwm);
} }
} }
} }
@ -618,21 +618,21 @@ void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, f
return; return;
} }
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) { for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
SRV_Channel &ch = channels[i]; SRV_Channel &c = channels[i];
if (ch.function == function) { if (c.function == function) {
ch.calc_pwm(functions[function].output_scaled); c.calc_pwm(functions[function].output_scaled);
uint16_t last_pwm = hal.rcout->read_last_sent(ch.ch_num); uint16_t last_pwm = hal.rcout->read_last_sent(c.ch_num);
if (last_pwm == ch.output_pwm) { if (last_pwm == c.output_pwm) {
continue; continue;
} }
uint16_t max_change = (ch.get_output_max() - ch.get_output_min()) * slew_rate * dt * 0.01f; uint16_t max_change = (c.get_output_max() - c.get_output_min()) * slew_rate * dt * 0.01f;
if (max_change == 0 || dt > 1) { if (max_change == 0 || dt > 1) {
// always allow some change. If dt > 1 then assume we // always allow some change. If dt > 1 then assume we
// are just starting out, and only allow a small // are just starting out, and only allow a small
// change for this loop // change for this loop
max_change = 1; max_change = 1;
} }
ch.output_pwm = constrain_int16(ch.output_pwm, last_pwm-max_change, last_pwm+max_change); c.output_pwm = constrain_int16(c.output_pwm, last_pwm-max_change, last_pwm+max_change);
} }
} }
} }
@ -672,9 +672,9 @@ void SRV_Channels::set_output_min_max(SRV_Channel::Aux_servo_function_t function
void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function) void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function)
{ {
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) { for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
SRV_Channel &ch = channels[i]; SRV_Channel &c = channels[i];
if (ch.function == function) { if (c.function == function) {
ch.output_pwm = constrain_int16(ch.output_pwm, ch.servo_min, ch.servo_max); c.output_pwm = constrain_int16(c.output_pwm, c.servo_min, c.servo_max);
} }
} }
} }
@ -863,9 +863,9 @@ void SRV_Channels::set_rc_frequency(SRV_Channel::Aux_servo_function_t function,
{ {
uint16_t mask = 0; uint16_t mask = 0;
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) { for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
SRV_Channel &ch = channels[i]; SRV_Channel &c = channels[i];
if (ch.function == function) { if (c.function == function) {
mask |= (1U<<ch.ch_num); mask |= (1U<<c.ch_num);
} }
} }
if (mask != 0) { if (mask != 0) {