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AP_IOMCU: use RC_Channel to populate IOMCU mappings

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Peter Barker 2024-09-19 12:25:23 +10:00 committed by Andrew Tridgell
parent 99e314f49a
commit cf27ba09d0
2 changed files with 14 additions and 12 deletions
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23
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -1208,7 +1208,7 @@ void AP_IOMCU::bind_dsm(uint8_t mode)
setup for mixing. This allows fixed wing aircraft to fly in manual setup for mixing. This allows fixed wing aircraft to fly in manual
mode if the FMU dies mode if the FMU dies
*/ */
bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan, bool AP_IOMCU::setup_mixing(int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask) float mixing_gain, uint16_t manual_rc_mask)
{ {
if (!is_chibios_backend) { if (!is_chibios_backend) {
@ -1229,16 +1229,19 @@ bool AP_IOMCU::setup_mixing(RCMapper *rcmap, int8_t override_chan,
MIX_UPDATE(mixing.servo_function[i], c->get_function()); MIX_UPDATE(mixing.servo_function[i], c->get_function());
MIX_UPDATE(mixing.servo_reversed[i], c->get_reversed()); MIX_UPDATE(mixing.servo_reversed[i], c->get_reversed());
} }
// update RCMap auto &xrc = rc();
MIX_UPDATE(mixing.rc_channel[0], rcmap->roll()); // note that if not all of these channels are specified correctly
MIX_UPDATE(mixing.rc_channel[1], rcmap->pitch()); // in parameters then these may be a "dummy" RC channel pointer.
MIX_UPDATE(mixing.rc_channel[2], rcmap->throttle()); // In that case c->ch() will be zero.
MIX_UPDATE(mixing.rc_channel[3], rcmap->yaw()); const RC_Channel *channels[] {
&xrc.get_roll_channel(),
&xrc.get_pitch_channel(),
&xrc.get_throttle_channel(),
&xrc.get_yaw_channel()
};
for (uint8_t i=0; i<4; i++) { for (uint8_t i=0; i<4; i++) {
const RC_Channel *c = RC_Channels::rc_channel(mixing.rc_channel[i]-1); const auto *c = channels[i];
if (!c) { MIX_UPDATE(mixing.rc_channel[i], c->ch());
continue;
}
MIX_UPDATE(mixing.rc_min[i], c->get_radio_min()); MIX_UPDATE(mixing.rc_min[i], c->get_radio_min());
MIX_UPDATE(mixing.rc_max[i], c->get_radio_max()); MIX_UPDATE(mixing.rc_max[i], c->get_radio_max());
MIX_UPDATE(mixing.rc_trim[i], c->get_radio_trim()); MIX_UPDATE(mixing.rc_trim[i], c->get_radio_trim());

3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -11,7 +11,6 @@
#if HAL_WITH_IO_MCU #if HAL_WITH_IO_MCU
#include "iofirmware/ioprotocol.h" #include "iofirmware/ioprotocol.h"
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_HAL/RCOutput.h> #include <AP_HAL/RCOutput.h>
#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h> #include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
@ -151,7 +150,7 @@ public:
void soft_reboot(); void soft_reboot();
// setup for FMU failsafe mixing // setup for FMU failsafe mixing
bool setup_mixing(RCMapper *rcmap, int8_t override_chan, bool setup_mixing(int8_t override_chan,
float mixing_gain, uint16_t manual_rc_mask); float mixing_gain, uint16_t manual_rc_mask);
// Check if pin number is valid and configured for GPIO // Check if pin number is valid and configured for GPIO