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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
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)
{
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_reversed[i], c->get_reversed());
}
// update RCMap
MIX_UPDATE(mixing.rc_channel[0], rcmap->roll());
MIX_UPDATE(mixing.rc_channel[1], rcmap->pitch());
MIX_UPDATE(mixing.rc_channel[2], rcmap->throttle());
MIX_UPDATE(mixing.rc_channel[3], rcmap->yaw());
auto &xrc = rc();
// note that if not all of these channels are specified correctly
// in parameters then these may be a "dummy" RC channel pointer.
// In that case c->ch() will be zero.
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++) {
const RC_Channel *c = RC_Channels::rc_channel(mixing.rc_channel[i]-1);
if (!c) {
continue;
}
const auto *c = channels[i];
MIX_UPDATE(mixing.rc_channel[i], c->ch());
MIX_UPDATE(mixing.rc_min[i], c->get_radio_min());
MIX_UPDATE(mixing.rc_max[i], c->get_radio_max());
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
#include "iofirmware/ioprotocol.h"
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_HAL/RCOutput.h>
#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
@ -151,7 +150,7 @@ public:
void soft_reboot();
// 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);
// Check if pin number is valid and configured for GPIO