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AP_Mount: use RC_Channel::rc_channel() instead of rc_ch[]

This commit is contained in:
Andrew Tridgell 2013-06-03 15:11:40 +10:00
parent 0438952a8b
commit 9076f6a1d0
1 changed files with 13 additions and 14 deletions
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27
libraries/AP_Mount/AP_Mount.cpp
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@ -216,8 +216,6 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
AP_GROUPEND AP_GROUPEND
}; };
extern RC_Channel* rc_ch[8];
AP_Mount::AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs, uint8_t id) : AP_Mount::AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs, uint8_t id) :
_gps(gps) _gps(gps)
{ {
@ -342,34 +340,35 @@ void AP_Mount::update_mount_position()
case MAV_MOUNT_MODE_RC_TARGETING: case MAV_MOUNT_MODE_RC_TARGETING:
{ {
#if MNT_JSTICK_SPD_OPTION == ENABLED #if MNT_JSTICK_SPD_OPTION == ENABLED
#define rc_ch(i) RC_Channel::rc_channel(i)
if (_joystick_speed) { // for spring loaded joysticks if (_joystick_speed) { // for spring loaded joysticks
// allow pilot speed position input to come directly from an RC_Channel // allow pilot speed position input to come directly from an RC_Channel
if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) { if (_roll_rc_in && rc_ch(_roll_rc_in-1)) {
_roll_control_angle += rc_ch[_roll_rc_in-1]->norm_input() * 0.0001f * _joystick_speed; _roll_control_angle += rc_ch(_roll_rc_in-1)->norm_input() * 0.0001f * _joystick_speed;
if (_roll_control_angle < radians(_roll_angle_min*0.01f)) _roll_control_angle = radians(_roll_angle_min*0.01f); if (_roll_control_angle < radians(_roll_angle_min*0.01f)) _roll_control_angle = radians(_roll_angle_min*0.01f);
if (_roll_control_angle > radians(_roll_angle_max*0.01f)) _roll_control_angle = radians(_roll_angle_max*0.01f); if (_roll_control_angle > radians(_roll_angle_max*0.01f)) _roll_control_angle = radians(_roll_angle_max*0.01f);
} }
if (_tilt_rc_in && (rc_ch[_tilt_rc_in-1])) { if (_tilt_rc_in && (rc_ch(_tilt_rc_in-1))) {
_tilt_control_angle += rc_ch[_tilt_rc_in-1]->norm_input() * 0.0001f * _joystick_speed; _tilt_control_angle += rc_ch(_tilt_rc_in-1)->norm_input() * 0.0001f * _joystick_speed;
if (_tilt_control_angle < radians(_tilt_angle_min*0.01f)) _tilt_control_angle = radians(_tilt_angle_min*0.01f); if (_tilt_control_angle < radians(_tilt_angle_min*0.01f)) _tilt_control_angle = radians(_tilt_angle_min*0.01f);
if (_tilt_control_angle > radians(_tilt_angle_max*0.01f)) _tilt_control_angle = radians(_tilt_angle_max*0.01f); if (_tilt_control_angle > radians(_tilt_angle_max*0.01f)) _tilt_control_angle = radians(_tilt_angle_max*0.01f);
} }
if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) { if (_pan_rc_in && (rc_ch(_pan_rc_in-1))) {
_pan_control_angle += rc_ch[_pan_rc_in-1]->norm_input() * 0.0001f * _joystick_speed; _pan_control_angle += rc_ch(_pan_rc_in-1)->norm_input() * 0.0001f * _joystick_speed;
if (_pan_control_angle < radians(_pan_angle_min*0.01f)) _pan_control_angle = radians(_pan_angle_min*0.01f); if (_pan_control_angle < radians(_pan_angle_min*0.01f)) _pan_control_angle = radians(_pan_angle_min*0.01f);
if (_pan_control_angle > radians(_pan_angle_max*0.01f)) _pan_control_angle = radians(_pan_angle_max*0.01f); if (_pan_control_angle > radians(_pan_angle_max*0.01f)) _pan_control_angle = radians(_pan_angle_max*0.01f);
} }
} else { } else {
#endif #endif
// allow pilot position input to come directly from an RC_Channel // allow pilot position input to come directly from an RC_Channel
if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) { if (_roll_rc_in && (rc_ch(_roll_rc_in-1))) {
_roll_control_angle = angle_input_rad(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max); _roll_control_angle = angle_input_rad(rc_ch(_roll_rc_in-1), _roll_angle_min, _roll_angle_max);
} }
if (_tilt_rc_in && (rc_ch[_tilt_rc_in-1])) { if (_tilt_rc_in && (rc_ch(_tilt_rc_in-1))) {
_tilt_control_angle = angle_input_rad(rc_ch[_tilt_rc_in-1], _tilt_angle_min, _tilt_angle_max); _tilt_control_angle = angle_input_rad(rc_ch(_tilt_rc_in-1), _tilt_angle_min, _tilt_angle_max);
} }
if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) { if (_pan_rc_in && (rc_ch(_pan_rc_in-1))) {
_pan_control_angle = angle_input_rad(rc_ch[_pan_rc_in-1], _pan_angle_min, _pan_angle_max); _pan_control_angle = angle_input_rad(rc_ch(_pan_rc_in-1), _pan_angle_min, _pan_angle_max);
} }
#if MNT_JSTICK_SPD_OPTION == ENABLED #if MNT_JSTICK_SPD_OPTION == ENABLED
} }