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https://github.com/ArduPilot/ardupilot
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Tracker: Making servo type customizable
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AntennaTracker
@ -119,12 +119,19 @@ const AP_Param::Info Tracker::var_info[] = {
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// @User: Standard
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GSCALAR(startup_delay, "STARTUP_DELAY", 0),
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// @Param: SERVO_TYPE
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// @DisplayName: Type of servo system being used
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// @Description: This allows selection of position servos or on/off servos
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// @Param: SERVO_PITCH_TYPE
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// @DisplayName: Type of servo system being used for pitch
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// @Description: This allows selection of position servos or on/off servos for pitch
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// @Values: 0:Position,1:OnOff,2:ContinuousRotation
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// @User: Standard
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GSCALAR(servo_type, "SERVO_TYPE", SERVO_TYPE_POSITION),
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GSCALAR(servo_pitch_type, "SERVO_PITCH_TYPE", SERVO_TYPE_POSITION),
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// @Param: SERVO_YAW_TYPE
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// @DisplayName: Type of servo system being used for yaw
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// @Description: This allows selection of position servos or on/off servos for yaw
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// @Values: 0:Position,1:OnOff,2:ContinuousRotation
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// @User: Standard
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GSCALAR(servo_yaw_type, "SERVO_YAW_TYPE", SERVO_TYPE_POSITION),
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// @Param: ONOFF_YAW_RATE
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// @DisplayName: Yaw rate for on/off servos
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@ -79,7 +79,7 @@ public:
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k_param_gps,
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k_param_scan_speed,
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k_param_proxy_mode_unused, // deprecated
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k_param_servo_type,
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k_param_servo_pitch_type,
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k_param_onoff_yaw_rate,
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k_param_onoff_pitch_rate,
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k_param_onoff_yaw_mintime,
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@ -98,6 +98,7 @@ public:
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// 150: Telemetry control
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//
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k_param_serial_manager, // serial manager library
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k_param_servo_yaw_type,
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//
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// 200 : Radio settings
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@ -133,7 +134,8 @@ public:
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AP_Float start_longitude;
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AP_Float startup_delay;
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AP_Int8 servo_type;
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AP_Int8 servo_pitch_type;
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AP_Int8 servo_yaw_type;
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AP_Float onoff_yaw_rate;
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AP_Float onoff_pitch_rate;
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AP_Float onoff_yaw_mintime;
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@ -28,7 +28,7 @@ void Tracker::init_servos()
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*/
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void Tracker::update_pitch_servo(float pitch)
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{
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switch ((enum ServoType)g.servo_type.get()) {
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switch ((enum ServoType)g.servo_pitch_type.get()) {
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case SERVO_TYPE_ONOFF:
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update_pitch_onoff_servo(pitch);
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break;
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@ -154,7 +154,7 @@ void Tracker::update_pitch_cr_servo(float pitch)
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*/
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void Tracker::update_yaw_servo(float yaw)
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{
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switch ((enum ServoType)g.servo_type.get()) {
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switch ((enum ServoType)g.servo_yaw_type.get()) {
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case SERVO_TYPE_ONOFF:
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update_yaw_onoff_servo(yaw);
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break;
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