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

Use G_RC_AUX macro to simplify accessing the auxiliary servos

Browse Source
This commit is contained in:
Amilcar Lucas 2011-09-12 00:02:47 +02:00
parent 46f9d4cec8
commit 77c798abd5
6 changed files with 23 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
ArduPlane/radio.pde
View File

@ -23,46 +23,26 @@ static void init_rc_in()
g.channel_throttle.dead_zone = 6;
//set auxiliary ranges
if (g_rc_function[RC_Channel_aux::k_flap]) {
g_rc_function[RC_Channel_aux::k_flap]->set_range(0,100);
}
if (g_rc_function[RC_Channel_aux::k_flap_auto]) {
g_rc_function[RC_Channel_aux::k_flap_auto]->set_range(0,100);
}
if (g_rc_function[RC_Channel_aux::k_aileron]) {
g_rc_function[RC_Channel_aux::k_aileron]->set_angle(SERVO_MAX);
}
if (g_rc_function[RC_Channel_aux::k_flaperon]) {
g_rc_function[RC_Channel_aux::k_flaperon]->set_range(0,100);
}
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);
G_RC_AUX(k_flaperon)->set_range(0,100);
#if CAMERA == ENABLED
if (g_rc_function[RC_Channel_aux::k_mount_yaw]) {
g_rc_function[RC_Channel_aux::k_mount_yaw]->set_range(
G_RC_AUX(k_mount_yaw)->set_range(
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max / 10);
}
if (g_rc_function[RC_Channel_aux::k_mount_pitch]) {
g_rc_function[RC_Channel_aux::k_mount_pitch]->set_range(
G_RC_AUX(k_mount_pitch)->set_range(
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
}
if (g_rc_function[RC_Channel_aux::k_mount_roll]) {
g_rc_function[RC_Channel_aux::k_mount_roll]->set_range(
G_RC_AUX(k_mount_roll)->set_range(
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
}
if (g_rc_function[RC_Channel_aux::k_cam_trigger]) {
g_rc_function[RC_Channel_aux::k_cam_trigger]->set_range(
G_RC_AUX(k_cam_trigger)->set_range(
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
}
if (g_rc_function[RC_Channel_aux::k_cam_open]) {
g_rc_function[RC_Channel_aux::k_cam_open]->set_range(0,100);
}
G_RC_AUX(k_cam_open)->set_range(0,100);
#endif
if (g_rc_function[RC_Channel_aux::k_egg_drop]) {
g_rc_function[RC_Channel_aux::k_egg_drop]->set_range(0,100);
}
G_RC_AUX(k_egg_drop)->set_range(0,100);
}
static void init_rc_out()
@ -195,7 +175,7 @@ static void trim_control_surfaces()
g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
}else{
elevon1_trim = ch1_temp;
@ -212,7 +192,7 @@ static void trim_control_surfaces()
g.channel_pitch.save_eeprom();
g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}
static void trim_radio()
@ -228,7 +208,7 @@ static void trim_radio()
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
} else {
elevon1_trim = ch1_temp;
@ -244,5 +224,5 @@ static void trim_radio()
g.channel_pitch.save_eeprom();
//g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
if (g_rc_function[RC_Channel_aux::k_aileron]) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}

5
libraries/AP_Camera/AP_Camera.cpp
View File

@ -98,10 +98,7 @@ AP_Camera::trigger_pic_cleanup()
case 0:
case 2:
case 3:
if (g_rc_function[RC_Channel_aux::k_cam_trigger])
{
g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
}
G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
break;
case 1:
// TODO for some strange reason the function call bellow gives a linker error

2
libraries/AP_DCM/AP_DCM.h
View File

@ -1,7 +1,7 @@
#ifndef AP_DCM_h
#define AP_DCM_h
// teporarily include all other classes here
// temporarily include all other classes here
// since this naming is a bit off from the
// convention and the AP_DCM should be the top
// header file

9
libraries/AP_Mount/AP_Mount.cpp
View File

@ -156,12 +156,9 @@ void AP_Mount::update_mount()
// write the results to the servos
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
if (g_rc_function[RC_Channel_aux::k_mount_roll])
g_rc_function[RC_Channel_aux::k_mount_roll]->closest_limit(roll_angle/10);
if (g_rc_function[RC_Channel_aux::k_mount_pitch])
g_rc_function[RC_Channel_aux::k_mount_pitch]->closest_limit(pitch_angle/10);
if (g_rc_function[RC_Channel_aux::k_mount_yaw])
g_rc_function[RC_Channel_aux::k_mount_yaw]->closest_limit(yaw_angle/10);
G_RC_AUX(k_mount_roll)->closest_limit(roll_angle/10);
G_RC_AUX(k_mount_pitch)->closest_limit(pitch_angle/10);
G_RC_AUX(k_mount_yaw)->closest_limit(yaw_angle/10);
}
void AP_Mount::set_mode(MountMode mode)

1
libraries/RC_Channel/RC_Channel.h
View File

@ -102,6 +102,7 @@ class RC_Channel{
int16_t _low;
};
// This is ugly, but it fixes compilation on arduino
#include "RC_Channel_aux.h"
#endif

3
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -9,6 +9,9 @@
#include "RC_Channel.h"
// Macro to simplify accessing the auxiliary servos
#define G_RC_AUX(_t) if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t]
/// @class RC_Channel_aux
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements