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RC_Channel: cleanup API and comments a bit

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This commit is contained in:
Andrew Tridgell 2017-01-07 16:37:00 +11:00
parent cf636a2ea5
commit b6aa4205b4
1 changed files with 9 additions and 5 deletions
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14
libraries/RC_Channel/RC_Channel.h
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@ -40,15 +40,13 @@ public:
// get the center stick position expressed as a control_in value // get the center stick position expressed as a control_in value
int16_t get_control_mid() const; int16_t get_control_mid() const;
// read input from APM_RC - create a control_in value // read input from hal.rcin - create a control_in value
void set_pwm(int16_t pwm); void set_pwm(int16_t pwm);
void set_pwm_no_deadzone(int16_t pwm); void set_pwm_no_deadzone(int16_t pwm);
// call after first set_pwm // calculate an angle given dead_zone and trim. This is used by the quadplane code
void trim(); // for hover throttle
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim); int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim);
int16_t pwm_to_angle();
/* /*
return a normalised input for a channel, in range -1 to 1, return a normalised input for a channel, in range -1 to 1,
@ -65,11 +63,16 @@ public:
uint8_t percent_input(); uint8_t percent_input();
int16_t pwm_to_range(); int16_t pwm_to_range();
int16_t pwm_to_range_dz(uint16_t dead_zone); int16_t pwm_to_range_dz(uint16_t dead_zone);
// read the input value from hal.rcin for this channel
uint16_t read() const; uint16_t read() const;
// read input from hal.rcin and set as pwm input for channel
void input(); void input();
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// return true if input is within deadzone of trim
bool in_trim_dz(); bool in_trim_dz();
int16_t get_radio_in() const { return radio_in;} int16_t get_radio_in() const { return radio_in;}
@ -117,6 +120,7 @@ private:
// the input channel this corresponds to // the input channel this corresponds to
uint8_t ch_in; uint8_t ch_in;
int16_t pwm_to_angle();
int16_t pwm_to_angle_dz(uint16_t dead_zone); int16_t pwm_to_angle_dz(uint16_t dead_zone);
}; };