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Tracker: Making servo type customizable

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This commit is contained in:
stefanlynka 2016-05-23 16:54:47 +09:00 committed by Randy Mackay
parent 8d1f50e78f
commit d2ec395cdf
3 changed files with 17 additions and 8 deletions
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15
AntennaTracker/Parameters.cpp
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@ -119,12 +119,19 @@ const AP_Param::Info Tracker::var_info[] = {
// @User: Standard // @User: Standard
GSCALAR(startup_delay, "STARTUP_DELAY", 0), GSCALAR(startup_delay, "STARTUP_DELAY", 0),
// @Param: SERVO_TYPE // @Param: SERVO_PITCH_TYPE
// @DisplayName: Type of servo system being used // @DisplayName: Type of servo system being used for pitch
// @Description: This allows selection of position servos or on/off servos // @Description: This allows selection of position servos or on/off servos for pitch
// @Values: 0:Position,1:OnOff,2:ContinuousRotation // @Values: 0:Position,1:OnOff,2:ContinuousRotation
// @User: Standard // @User: Standard
GSCALAR(servo_type, "SERVO_TYPE", SERVO_TYPE_POSITION), GSCALAR(servo_pitch_type, "SERVO_PITCH_TYPE", SERVO_TYPE_POSITION),
// @Param: SERVO_YAW_TYPE
// @DisplayName: Type of servo system being used for yaw
// @Description: This allows selection of position servos or on/off servos for yaw
// @Values: 0:Position,1:OnOff,2:ContinuousRotation
// @User: Standard
GSCALAR(servo_yaw_type, "SERVO_YAW_TYPE", SERVO_TYPE_POSITION),
// @Param: ONOFF_YAW_RATE // @Param: ONOFF_YAW_RATE
// @DisplayName: Yaw rate for on/off servos // @DisplayName: Yaw rate for on/off servos

6
AntennaTracker/Parameters.h
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@ -79,7 +79,7 @@ public:
k_param_gps, k_param_gps,
k_param_scan_speed, k_param_scan_speed,
k_param_proxy_mode_unused, // deprecated k_param_proxy_mode_unused, // deprecated
k_param_servo_type, k_param_servo_pitch_type,
k_param_onoff_yaw_rate, k_param_onoff_yaw_rate,
k_param_onoff_pitch_rate, k_param_onoff_pitch_rate,
k_param_onoff_yaw_mintime, k_param_onoff_yaw_mintime,
@ -98,6 +98,7 @@ public:
// 150: Telemetry control // 150: Telemetry control
// //
k_param_serial_manager, // serial manager library k_param_serial_manager, // serial manager library
k_param_servo_yaw_type,
// //
// 200 : Radio settings // 200 : Radio settings
@ -133,7 +134,8 @@ public:
AP_Float start_longitude; AP_Float start_longitude;
AP_Float startup_delay; AP_Float startup_delay;
AP_Int8 servo_type; AP_Int8 servo_pitch_type;
AP_Int8 servo_yaw_type;
AP_Float onoff_yaw_rate; AP_Float onoff_yaw_rate;
AP_Float onoff_pitch_rate; AP_Float onoff_pitch_rate;
AP_Float onoff_yaw_mintime; AP_Float onoff_yaw_mintime;

4
AntennaTracker/servos.cpp
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@ -28,7 +28,7 @@ void Tracker::init_servos()
*/ */
void Tracker::update_pitch_servo(float pitch) void Tracker::update_pitch_servo(float pitch)
{ {
switch ((enum ServoType)g.servo_type.get()) { switch ((enum ServoType)g.servo_pitch_type.get()) {
case SERVO_TYPE_ONOFF: case SERVO_TYPE_ONOFF:
update_pitch_onoff_servo(pitch); update_pitch_onoff_servo(pitch);
break; break;
@ -154,7 +154,7 @@ void Tracker::update_pitch_cr_servo(float pitch)
*/ */
void Tracker::update_yaw_servo(float yaw) void Tracker::update_yaw_servo(float yaw)
{ {
switch ((enum ServoType)g.servo_type.get()) { switch ((enum ServoType)g.servo_yaw_type.get()) {
case SERVO_TYPE_ONOFF: case SERVO_TYPE_ONOFF:
update_yaw_onoff_servo(yaw); update_yaw_onoff_servo(yaw);
break; break;