mirror of https://github.com/ArduPilot/ardupilot
RC_Channel: added find_channel() and channel numbers
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@ -400,3 +400,18 @@ bool RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::Aux_servo_function_
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(unsigned)channel);
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(unsigned)channel);
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return false;
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return false;
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}
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}
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// find first channel that a function is assigned to
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bool RC_Channel_aux::find_channel(RC_Channel_aux::Aux_servo_function_t function, uint8_t &chan)
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{
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if (!function_assigned(function)) {
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return false;
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}
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for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] && _aux_channels[i]->function != function) {
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chan = _aux_channels[i]->_ch_out;
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return true;
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}
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}
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return false;
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}
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@ -68,6 +68,14 @@ public:
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k_engine_run_enable = 30, ///< engine kill switch, used for gas airplanes and helicopters
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k_engine_run_enable = 30, ///< engine kill switch, used for gas airplanes and helicopters
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k_heli_rsc = 31, ///< helicopter RSC output
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k_heli_rsc = 31, ///< helicopter RSC output
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k_heli_tail_rsc = 32, ///< helicopter tail RSC output
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k_heli_tail_rsc = 32, ///< helicopter tail RSC output
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k_motor1 = 33, ///< these allow remapping of copter motors
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k_motor2 = 34,
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k_motor3 = 35,
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k_motor4 = 36,
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k_motor5 = 37,
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k_motor6 = 38,
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k_motor7 = 39,
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k_motor8 = 40,
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k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
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k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
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} Aux_servo_function_t;
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} Aux_servo_function_t;
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@ -132,6 +140,9 @@ public:
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// set default channel for an auxillary function
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// set default channel for an auxillary function
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static bool set_aux_channel_default(Aux_servo_function_t function, uint8_t channel);
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static bool set_aux_channel_default(Aux_servo_function_t function, uint8_t channel);
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// find first channel that a function is assigned to
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static bool find_channel(Aux_servo_function_t function, uint8_t &chan);
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private:
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private:
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static uint64_t _function_mask;
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static uint64_t _function_mask;
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