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Working on updating AP_Controller/RC_Channel for new AP_Var

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1611 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2011-02-07 23:33:12 +00:00
parent e5fde180fd
commit d4007c3fca
3 changed files with 41 additions and 43 deletions
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59
libraries/AP_Controller/AP_Controller.h
View File

@ -40,15 +40,15 @@ public:
const Vector < AP_Var * > & getOutput() const { return _output; } const Vector < AP_Var * > & getOutput() const { return _output; }
protected: protected:
const char * _name; const char * _name;
Vector< AP_Var * > _input; Vector< const AP_Var * > _input;
Vector< AP_Var * > _output; Vector< const AP_Var * > _output;
}; };
/// Servo Block /// Servo Block
class ToServo: public Block class ToServo: public Block
{ {
public: public:
ToServo(AP_RcChannel * ch) : _ch(ch) ToServo(AP_RcChannel & ch) : _ch(ch)
{ {
} }
virtual void connect(Block * block) virtual void connect(Block * block)
@ -59,11 +59,11 @@ public:
virtual void update(const float & dt = 0) virtual void update(const float & dt = 0)
{ {
if (_input.getSize() > 0) if (_input.getSize() > 0)
_ch->setPosition(_output[0]); _ch.setPosition(_output[0]);
} }
private: private:
float _position; float _position;
AP_RcChannel * _ch; AP_RcChannel & _ch;
}; };
/// SumGain /// SumGain
@ -73,30 +73,29 @@ public:
/// Constructor that allows 1-8 sum gain pairs, more /// Constructor that allows 1-8 sum gain pairs, more
/// can be added if necessary /// can be added if necessary
SumGain( SumGain(
AP_Var * var1, AP_Var * gain1, AP_Var & var1 = AP_Float_zero, AP_Var & gain1 = AP_Float_zero,
AP_Var * var2 = NULL, AP_Var * gain2 = NULL, AP_Var & var2 = AP_Float_zero, AP_Var & gain2 = AP_Float_zero,
AP_Var * var3 = NULL, AP_Var * gain3 = NULL, AP_Var & var3 = AP_Float_zero, AP_Var & gain3 = AP_Float_zero,
AP_Var * var4 = NULL, AP_Var * gain4 = NULL, AP_Var & var4 = AP_Float_zero, AP_Var & gain4 = AP_Float_zero,
AP_Var * var5 = NULL, AP_Var * gain5 = NULL, AP_Var & var5 = AP_Float_zero, AP_Var & gain5 = AP_Float_zero,
AP_Var * var6 = NULL, AP_Var * gain6 = NULL, AP_Var & var6 = AP_Float_zero, AP_Var & gain6 = AP_Float_zero,
AP_Var * var7 = NULL, AP_Var * gain7 = NULL, AP_Var & var7 = AP_Float_zero, AP_Var & gain7 = AP_Float_zero,
AP_Var * var8 = NULL, AP_Var * gain8 = NULL) : AP_Var & var8 = AP_Float_zero, AP_Var & gain8 = AP_Float_zero) :
_gain() _input(), _gain()
{ {
_output.push_back(new AP_Float(0)); if ( (&var1 == &AP_Float_zero) || (&gain1 == &AP_Float_zero) ) add(var1,gain1);
if (var1 && gain1) add(var1,gain1); if ( (&var2 == &AP_Float_zero) || (&gain2 == &AP_Float_zero) ) add(var2,gain2);
if (var2 && gain2) add(var2,gain2); if ( (&var3 == &AP_Float_zero) || (&gain3 == &AP_Float_zero) ) add(var3,gain3);
if (var3 && gain3) add(var3,gain3); if ( (&var4 == &AP_Float_zero) || (&gain4 == &AP_Float_zero) ) add(var4,gain4);
if (var4 && gain4) add(var4,gain4); if ( (&var5 == &AP_Float_zero) || (&gain5 == &AP_Float_zero) ) add(var5,gain5);
if (var5 && gain5) add(var5,gain5); if ( (&var6 == &AP_Float_zero) || (&gain6 == &AP_Float_zero) ) add(var6,gain6);
if (var6 && gain6) add(var6,gain6); if ( (&var7 == &AP_Float_zero) || (&gain7 == &AP_Float_zero) ) add(var7,gain7);
if (var7 && gain7) add(var7,gain7); if ( (&var8 == &AP_Float_zero) || (&gain8 == &AP_Float_zero) ) add(var8,gain8);
if (var8 && gain8) add(var8,gain8);
} }
void add(AP_Var * var, AP_Var * gain) void add(AP_Var & var, AP_Var & gain)
{ {
_input.push_back(var); _input.push_back(&var);
_gain.push_back(gain); _gain.push_back(&gain);
} }
virtual void connect(Block * block) virtual void connect(Block * block)
{ {
@ -117,7 +116,7 @@ private:
}; };
/// PID block /// PID block
class Pid : public Block class Pid : public Block, public AP_Var_group
{ {
public: public:
Pid(AP_Var::Key key, const prog_char * name, Pid(AP_Var::Key key, const prog_char * name,
@ -127,7 +126,7 @@ public:
float iMax = 0.0, float iMax = 0.0,
uint8_t dFcut = 20.0, uint8_t dFcut = 20.0,
) : ) :
_group(key,name), AP_Var_Group(key,name),
_kP(&_group,0,kP,P_STR("P")), _kP(&_group,0,kP,P_STR("P")),
_kI(&_group,0,kP,P_STR("I")), _kI(&_group,0,kP,P_STR("I")),
_kD(&_group,0,kP,P_STR("D")), _kD(&_group,0,kP,P_STR("D")),
@ -184,9 +183,9 @@ public:
{ {
_rc.push_back(ch); _rc.push_back(ch);
} }
AP_RcChannel * getRc(int i) AP_RcChannel & getRc(int i)
{ {
return _rc[i]; return *(_rc[i]);
} }
void update() void update()
{ {

23
libraries/AP_RcChannel/AP_RcChannel.cpp
View File

@ -14,7 +14,7 @@
#include "AP_RcChannel.h" #include "AP_RcChannel.h"
#include <AP_Common.h> #include <AP_Common.h>
AP_RcChannel::AP_RcChannel(const prog_char * name, APM_RC_Class & rc, const uint8_t & ch, AP_RcChannel::AP_RcChannel(AP_Var::Key & key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
const float & scale, const float & center, const float & scale, const float & center,
const uint16_t & pwmMin, const uint16_t & pwmMin,
const uint16_t & pwmNeutral, const uint16_t & pwmMax, const uint16_t & pwmNeutral, const uint16_t & pwmMax,
@ -22,18 +22,17 @@ AP_RcChannel::AP_RcChannel(const prog_char * name, APM_RC_Class & rc, const uint
const bool & filter, const bool & reverse) : const bool & filter, const bool & reverse) :
AP_Var_scope(name), AP_Var_scope(name),
_rc(rc), _rc(rc),
ch(ch,AP_Var::k_no_address,PSTR("CH"),this), ch(this,0,ch,PSTR("CH")),
scale(scale,AP_Var::k_no_address,PSTR("SCALE"),this), scale(this,1,ch,PSTR("SCALE")),
center(center,AP_Var::k_no_address,PSTR("CNTR"),this), center(this,2,ch,PSTR("CENTER")),
pwmMin(pwmMin,AP_Var::k_no_address,PSTR("PMIN"),this), pwmMin(this,3,pwmMin,PSTR("PMIN")),
pwmMax(pwmMax,AP_Var::k_no_address,PSTR("PMAX"),this), pwmMax(this,4,pwmMax,PSTR("PMAX")),
pwmNeutral(pwmNeutral,AP_Var::k_no_address,PSTR("PNTRL"),this), pwmNeutral(this,5,pwmNeutral,PSTR("PNTRL")),
pwmDeadZone(pwmDeadZone,AP_Var::k_no_address,PSTR("PDEAD"),this), pwmDeadZone(this,6,pwmDeadZone,PSTR("PDEAD")),
filter(filter,AP_Var::k_no_address,PSTR("FLTR"),this), filter(this,7,filter,PSTR("FLTR")),
reverse(reverse,AP_Var::k_no_address,PSTR("REV"),this), reverse(this,8,reverse,PSTR("REV")),
_pwm(0) _pwm(0)
{ { }
}
void AP_RcChannel::readRadio() { void AP_RcChannel::readRadio() {

2
libraries/AP_RcChannel/AP_RcChannel.h
View File

@ -18,7 +18,7 @@ class AP_RcChannel : public AP_Var_group {
public: public:
/// Constructor /// Constructor
AP_RcChannel(const prog_char * name, APM_RC_Class & rc, const uint8_t & ch, AP_RcChannel(AP_Var::Key & key, const prog_char * name, APM_RC_Class & rc, const uint8_t & ch,
const float & scale=45.0, const float & center=0.0, const float & scale=45.0, const float & center=0.0,
const uint16_t & pwmMin=1200, const uint16_t & pwmMin=1200,
const uint16_t & pwmNeutral=1500, const uint16_t & pwmMax=1800, const uint16_t & pwmNeutral=1500, const uint16_t & pwmMax=1800,