RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.

ArduCopter/ArduCopter.pde

@@ -1271,10 +1271,6 @@ static void fifty_hz_loop()
 		// set-up channel 6 to control pitch
 		camera_mount.set_manual_rc_channel( &g.rc_6 );
 
-		// enable output channels
-		g.rc_camera_roll.enable_out_ch(CH_CAM_ROLL);
-		g.rc_camera_pitch.enable_out_ch(CH_CAM_PITCH);
-		g.rc_camera_yaw.enable_out_ch(CH_CAM_YAW);
 	}
 
 	// update pilot's commands to mount
@@ -1288,9 +1284,9 @@ static void fifty_hz_loop()
 	camera_mount.update_mount_position();
 
 	// move camera servos.  TO-DO: move this to AP_Mount library
-	g.rc_camera_roll.output_ch(CH_CAM_ROLL);
+	g.rc_camera_roll.output();
-	g.rc_camera_pitch.output_ch(CH_CAM_PITCH);
+	g.rc_camera_pitch.output();
-	g.rc_camera_yaw.output_ch(CH_CAM_PITCH);
+	g.rc_camera_yaw.output();
 #endif
 
 #if CAMERA == ENABLED
@@ -1354,6 +1350,7 @@ static void slow_loop()
 			#if MOUNT == ENABLED
 			update_aux_servo_function(&g.rc_camera_roll, &g.rc_camera_pitch, &g.rc_camera_yaw);
 			#endif
+			enable_aux_servos();
 
 #if MOUNT == ENABLED
 			camera_mount.update_mount_type();

ArduCopter/Parameters.h

@@ -399,6 +399,20 @@ public:
 	ch7_option 				(CH7_OPTION),
 	auto_slew_rate			(AUTO_SLEW_RATE),
 
+    rc_1					(CH_1),
+    rc_2					(CH_2),
+    rc_3					(CH_3),
+    rc_4					(CH_4),
+    rc_5					(CH_5),
+    rc_6					(CH_6),
+    rc_7					(CH_7),
+    rc_8					(CH_8),
+#if MOUNT == ENABLED
+    rc_camera_roll			(CH_9),
+    rc_camera_pitch			(CH_10),
+    rc_camera_yaw			(CH_11),
+#endif
+
     rc_speed(RC_FAST_SPEED),
 
 	stabilize_d 			(STABILIZE_D),

ArduCopter/radio.pde

@@ -64,14 +64,6 @@ static void init_rc_out()
 {
 	APM_RC.Init( &isr_registry );		// APM Radio initialization
 
-#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
-	APM_RC.enable_out(CH_9);
-	APM_RC.enable_out(CH_10);
-	APM_RC.enable_out(CH_11);
-  	APM_RC.OutputCh(CH_9, 	g.rc_9.radio_trim);
-	APM_RC.OutputCh(CH_10,	g.rc_10.radio_trim);
-	APM_RC.OutputCh(CH_11,	g.rc_11.radio_trim);
-#endif
 	#if INSTANT_PWM == 1
 	motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
 	#else
@@ -123,6 +115,8 @@ static void init_rc_out()
 		// send miinimum throttle out to ESC
 		output_min();
 	}
+
+	enable_aux_servos();
 }
 
 void output_min()

ArduPlane/ArduPlane.pde

@@ -908,6 +908,7 @@ static void slow_loop()
 #else
 			update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
 #endif
+			enable_aux_servos();
 
 #if MOUNT == ENABLED
 			camera_mount.update_mount_type();

ArduPlane/Parameters.h

@@ -485,6 +485,20 @@ public:
         inverted_flight_ch      (0),
         sonar_enabled			(SONAR_ENABLED),
 
+        channel_roll			(CH_1),
+        channel_pitch			(CH_2),
+        channel_throttle		(CH_3),
+        channel_rudder			(CH_4),
+        rc_5					(CH_5),
+        rc_6					(CH_6),
+        rc_7					(CH_7),
+        rc_8					(CH_8),
+#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+        rc_9					(CH_9),
+        rc_10					(CH_10),
+        rc_11					(CH_11),
+#endif
+
         // PID controller    initial P        initial I        initial D        initial imax
         //-----------------------------------------------------------------------------------
         pidNavRoll          (NAV_ROLL_P,      NAV_ROLL_I,      NAV_ROLL_D,      NAV_ROLL_INT_MAX_CENTIDEGREE),

ArduPlane/radio.pde

@@ -50,20 +50,11 @@ static void init_rc_out()
 {
 	APM_RC.Init( &isr_registry );		// APM Radio initialization
 
-  APM_RC.enable_out(CH_1);
+	APM_RC.enable_out(CH_1);
-  APM_RC.enable_out(CH_2);
+	APM_RC.enable_out(CH_2);
-  APM_RC.enable_out(CH_3);
+	APM_RC.enable_out(CH_3);
-  APM_RC.enable_out(CH_4);
+	APM_RC.enable_out(CH_4);
-  APM_RC.enable_out(CH_5);
+	enable_aux_servos();
-  APM_RC.enable_out(CH_6);
-  APM_RC.enable_out(CH_7);
-  APM_RC.enable_out(CH_8);
-
-#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
-  APM_RC.enable_out(CH_9);
-  APM_RC.enable_out(CH_10);
-  APM_RC.enable_out(CH_11);
-#endif
 
 	APM_RC.OutputCh(CH_1, 	g.channel_roll.radio_trim);					// Initialization of servo outputs
 	APM_RC.OutputCh(CH_2, 	g.channel_pitch.radio_trim);
@@ -114,7 +105,7 @@ static void read_radio()
 	if (g.channel_throttle.servo_out > 50) {
 		if (airspeed.use()) {
 			airspeed_nudge = (g.flybywire_airspeed_max * 100 - g.airspeed_cruise_cm) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
-        } else {
+		} else {
 			throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((g.channel_throttle.norm_input()-0.5) / 0.5);
 		}
 	} else {

libraries/RC_Channel/RC_Channel.cpp

@@ -331,3 +331,15 @@ void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc )
 {
     _apm_rc = apm_rc;
 }
+
+void
+RC_Channel::output()
+{
+    _apm_rc->OutputCh(_ch_out, radio_out);
+}
+
+void
+RC_Channel::enable_out()
+{
+    _apm_rc->enable_out(_ch_out);
+}

libraries/RC_Channel/RC_Channel.h

@@ -18,7 +18,7 @@ class RC_Channel{
 	/// @param key      EEPROM storage key for the channel trim parameters.
 	/// @param name     Optional name for the group.
 	///
-       RC_Channel() :
+       RC_Channel(uint8_t ch_out) :
         radio_min (1100),
         radio_trim(1500),
         radio_max (1900),
@@ -26,7 +26,8 @@ class RC_Channel{
 		_filter(false),
 		_reverse(1),
 		_dead_zone(0),
-		_high(1) {}
+		_high(1),
+		_ch_out(ch_out) {}
 
 	// setup min and max radio values in CLI
 	void 		update_min_max();
@@ -90,6 +91,8 @@ class RC_Channel{
 
 	float		scale_output;
     static void set_apm_rc(APM_RC_Class * apm_rc);
+    void output();
+    void enable_out();
     static APM_RC_Class *_apm_rc;
 
     static const struct AP_Param::GroupInfo var_info[];
@@ -103,6 +106,7 @@ class RC_Channel{
 	int16_t 	_low;
 	int16_t 	_high_out;
 	int16_t 	_low_out;
+	uint8_t 	_ch_out;
 };
 
 // This is ugly, but it fixes compilation on arduino

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -190,3 +190,14 @@ void update_aux_servo_function(	RC_Channel_aux* rc_a,
 				g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
 	G_RC_AUX(k_egg_drop)->set_range(0,100);
 }
+
+/// Should be called after the the servo functions have been initialized
+void
+enable_aux_servos()
+{
+	for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
+	{
+		if (g_rc_function[i]) g_rc_function[i]->enable_out();
+	}
+}
+

libraries/RC_Channel/RC_Channel_aux.h

@@ -23,8 +23,8 @@ public:
 	/// @param key      EEPROM storage key for the channel trim parameters.
 	/// @param name     Optional name for the group.
 	///
-	RC_Channel_aux() :
+	RC_Channel_aux(uint8_t ch_out) :
-		RC_Channel(),
+		RC_Channel(ch_out),
 		function  (0),
 		angle_min (-4500), // assume -45 degrees min deflection
 		angle_max (4500)   // assume  45 degrees max deflection
@@ -67,6 +67,7 @@ public:
 };
 
 void update_aux_servo_function(RC_Channel_aux* rc_a = NULL, RC_Channel_aux* rc_b = NULL, RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL, RC_Channel_aux* rc_e = NULL, RC_Channel_aux* rc_f = NULL, RC_Channel_aux* rc_g = NULL);
+void enable_aux_servos();
 extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];	// the aux. servo ch. assigned to each function
 
 #endif /* RC_CHANNEL_AUX_H_ */