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RC_Channel: formatting fixes

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This commit is contained in:
Randy Mackay 2020-02-22 12:22:30 +09:00
parent 77d5165c01
commit cd38940ecf
2 changed files with 19 additions and 37 deletions
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42
libraries/RC_Channel/RC_Channel.cpp
View File

@ -106,35 +106,30 @@ RC_Channel::RC_Channel(void)
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }
void void RC_Channel::set_range(uint16_t high)
RC_Channel::set_range(uint16_t high)
{ {
type_in = RC_CHANNEL_TYPE_RANGE; type_in = RC_CHANNEL_TYPE_RANGE;
high_in = high; high_in = high;
} }
void void RC_Channel::set_angle(uint16_t angle)
RC_Channel::set_angle(uint16_t angle)
{ {
type_in = RC_CHANNEL_TYPE_ANGLE; type_in = RC_CHANNEL_TYPE_ANGLE;
high_in = angle; high_in = angle;
} }
void void RC_Channel::set_default_dead_zone(int16_t dzone)
RC_Channel::set_default_dead_zone(int16_t dzone)
{ {
dead_zone.set_default(abs(dzone)); dead_zone.set_default(abs(dzone));
} }
bool bool RC_Channel::get_reverse(void) const
RC_Channel::get_reverse(void) const
{ {
return bool(reversed.get()); return bool(reversed.get());
} }
// read input from hal.rcin or overrides // read input from hal.rcin or overrides
bool bool RC_Channel::update(void)
RC_Channel::update(void)
{ {
if (has_override() && !rc().ignore_overrides()) { if (has_override() && !rc().ignore_overrides()) {
radio_in = override_value; radio_in = override_value;
@ -157,8 +152,7 @@ RC_Channel::update(void)
// recompute control values with no deadzone // recompute control values with no deadzone
// When done this way the control_in value can be used as servo_out // When done this way the control_in value can be used as servo_out
// to give the same output as input // to give the same output as input
void void RC_Channel::recompute_pwm_no_deadzone()
RC_Channel::recompute_pwm_no_deadzone()
{ {
if (type_in == RC_CHANNEL_TYPE_RANGE) { if (type_in == RC_CHANNEL_TYPE_RANGE) {
control_in = pwm_to_range_dz(0); control_in = pwm_to_range_dz(0);
@ -193,8 +187,7 @@ int16_t RC_Channel::get_control_mid() const
return an "angle in centidegrees" (normally -4500 to 4500) from return an "angle in centidegrees" (normally -4500 to 4500) from
the current radio_in value using the specified dead_zone the current radio_in value using the specified dead_zone
*/ */
int16_t int16_t RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
{ {
int16_t radio_trim_high = _trim + _dead_zone; int16_t radio_trim_high = _trim + _dead_zone;
int16_t radio_trim_low = _trim - _dead_zone; int16_t radio_trim_low = _trim - _dead_zone;
@ -213,8 +206,7 @@ RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
return an "angle in centidegrees" (normally -4500 to 4500) from return an "angle in centidegrees" (normally -4500 to 4500) from
the current radio_in value using the specified dead_zone the current radio_in value using the specified dead_zone
*/ */
int16_t int16_t RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
{ {
return pwm_to_angle_dz_trim(_dead_zone, radio_trim); return pwm_to_angle_dz_trim(_dead_zone, radio_trim);
} }
@ -223,8 +215,7 @@ RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
return an "angle in centidegrees" (normally -4500 to 4500) from return an "angle in centidegrees" (normally -4500 to 4500) from
the current radio_in value the current radio_in value
*/ */
int16_t int16_t RC_Channel::pwm_to_angle() const
RC_Channel::pwm_to_angle() const
{ {
return pwm_to_angle_dz(dead_zone); return pwm_to_angle_dz(dead_zone);
} }
@ -234,8 +225,7 @@ RC_Channel::pwm_to_angle() const
convert a pulse width modulation value to a value in the configured convert a pulse width modulation value to a value in the configured
range, using the specified deadzone range, using the specified deadzone
*/ */
int16_t int16_t RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
{ {
int16_t r_in = constrain_int16(radio_in, radio_min.get(), radio_max.get()); int16_t r_in = constrain_int16(radio_in, radio_min.get(), radio_max.get());
@ -255,8 +245,7 @@ RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
convert a pulse width modulation value to a value in the configured convert a pulse width modulation value to a value in the configured
range range
*/ */
int16_t int16_t RC_Channel::pwm_to_range() const
RC_Channel::pwm_to_range() const
{ {
return pwm_to_range_dz(dead_zone); return pwm_to_range_dz(dead_zone);
} }
@ -272,8 +261,7 @@ int16_t RC_Channel::get_control_in_zero_dz(void) const
// ------------------------------------------ // ------------------------------------------
float float RC_Channel::norm_input() const
RC_Channel::norm_input() const
{ {
float ret; float ret;
int16_t reverse_mul = (reversed?-1:1); int16_t reverse_mul = (reversed?-1:1);
@ -291,8 +279,7 @@ RC_Channel::norm_input() const
return constrain_float(ret, -1.0f, 1.0f); return constrain_float(ret, -1.0f, 1.0f);
} }
float float RC_Channel::norm_input_dz() const
RC_Channel::norm_input_dz() const
{ {
int16_t dz_min = radio_trim - dead_zone; int16_t dz_min = radio_trim - dead_zone;
int16_t dz_max = radio_trim + dead_zone; int16_t dz_max = radio_trim + dead_zone;
@ -323,8 +310,7 @@ float RC_Channel::norm_input_ignore_trim() const
/* /*
get percentage input from 0 to 100. This ignores the trim value. get percentage input from 0 to 100. This ignores the trim value.
*/ */
uint8_t uint8_t RC_Channel::percent_input() const
RC_Channel::percent_input() const
{ {
if (radio_in <= radio_min) { if (radio_in <= radio_min) {
return reversed?100:0; return reversed?100:0;

14
libraries/RC_Channel/RC_Channel.h
View File

@ -40,16 +40,12 @@ public:
// for hover throttle // for hover throttle
int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim) const; int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim) const;
/* // return a normalised input for a channel, in range -1 to 1,
return a normalised input for a channel, in range -1 to 1, // centered around the channel trim. Ignore deadzone.
centered around the channel trim. Ignore deadzone.
*/
float norm_input() const; float norm_input() const;
/* // return a normalised input for a channel, in range -1 to 1,
return a normalised input for a channel, in range -1 to 1, // centered around the channel trim. Take into account the deadzone
centered around the channel trim. Take into account the deadzone
*/
float norm_input_dz() const; float norm_input_dz() const;
// return a normalised input for a channel, in range -1 to 1, // return a normalised input for a channel, in range -1 to 1,
@ -99,7 +95,7 @@ public:
AP_Int16 option; // e.g. activate EPM gripper / enable fence AP_Int16 option; // e.g. activate EPM gripper / enable fence
// auxillary switch support: // auxiliary switch support
void init_aux(); void init_aux();
bool read_aux(); bool read_aux();