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Sub: refactor aux servos

This commit is contained in:
Willian Galvani 2024-11-19 13:34:57 -03:00
parent ad539ffa03
commit e39bc88a2a
12 changed files with 297 additions and 145 deletions
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2
ArduSub/ArduSub.cpp
View File

@ -159,6 +159,8 @@ void Sub::fifty_hz_loop()
failsafe_sensors_check();
rc().read_input();
update_servos();
}
// update_batt_compass - read battery and compass

70
ArduSub/Parameters.cpp
View File

@ -735,6 +735,76 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard
AP_GROUPINFO("ORIGIN_ALT", 21, ParametersG2, backup_origin_alt, 0),
// @Param: ACTUATOR1_INC
// @DisplayName: Increment step for actuator 1
// @Description: Initial increment step for changing the actuator's PWM
// @Units: us
// @User: Standard
AP_GROUPINFO("ACTUATOR1_INC", 22, ParametersG2, actuator_increment_step[0], ACTUATOR_DEFAULT_INCREMENT),
// @Param: ACTUATOR2_INC
// @DisplayName: Increment step for actuator 2
// @Description: Initial increment step for changing the actuator's PWM
// @Units: us
// @User: Standard
AP_GROUPINFO("ACTUATOR2_INC", 23, ParametersG2, actuator_increment_step[1], ACTUATOR_DEFAULT_INCREMENT),
// @Param: ACTUATOR3_INC
// @DisplayName: Increment step for actuator 3
// @Description: Initial increment step for changing the actuator's PWM
// @Units: us
// @User: Standard
AP_GROUPINFO("ACTUATOR3_INC", 24, ParametersG2, actuator_increment_step[2], ACTUATOR_DEFAULT_INCREMENT),
// @Param: ACTUATOR4_INC
// @DisplayName: Increment step for actuator 4
// @Description: Initial increment step for changing the actuator's PWM
// @Units: us
// @User: Standard
AP_GROUPINFO("ACTUATOR4_INC", 25, ParametersG2, actuator_increment_step[3], ACTUATOR_DEFAULT_INCREMENT),
// @Param: ACTUATOR5_INC
// @DisplayName: Increment step for actuator 5
// @Description: Initial increment step for changing the actuator's PWM
// @Units: us
// @User: Standard
AP_GROUPINFO("ACTUATOR5_INC", 26, ParametersG2, actuator_increment_step[4], ACTUATOR_DEFAULT_INCREMENT),
// @Param: ACTUATOR1_ACC
// @DisplayName: Rate at which actuator 1 change speed increases or decreases
// @Description: Rate at which actuator 5 change speed increases or decreases
// @Units: %/s
// @User: Standard
AP_GROUPINFO("ACTUATOR1_ACC", 27, ParametersG2, actuator_acceleration[0], ACTUATOR_DEFAULT_INCREMENT_ACCEL),
// @Param: ACTUATOR2_ACC
// @DisplayName: Rate at which actuator 2 change speed increases or decreases
// @Description: Rate at which actuator 5 change speed increases or decreases
// @Units: %/s
// @User: Standard
AP_GROUPINFO("ACTUATOR2_ACC", 28, ParametersG2, actuator_acceleration[1], ACTUATOR_DEFAULT_INCREMENT_ACCEL),
// @Param: ACTUATOR3_ACC
// @DisplayName: Rate at which actuator 3 change speed increases or decreases
// @Description: Rate at which actuator 5 change speed increases or decreases
// @Units: %/s
// @User: Standard
AP_GROUPINFO("ACTUATOR3_ACC", 29, ParametersG2, actuator_acceleration[2], ACTUATOR_DEFAULT_INCREMENT_ACCEL),
// @Param: ACTUATOR4_ACC
// @DisplayName: Rate at which actuator 4 change speed increases or decreases
// @Description: Rate at which actuator 5 change speed increases or decreases
// @Units: %/s
// @User: Standard
AP_GROUPINFO("ACTUATOR4_ACC", 30, ParametersG2, actuator_acceleration[3], ACTUATOR_DEFAULT_INCREMENT_ACCEL),
// @Param: ACTUATOR5_ACC
// @DisplayName: Rate at which actuator 5 change speed increases or decreases
// @Description: Rate at which actuator 5 change speed increases or decreases
// @Units: %/s
// @User: Standard
AP_GROUPINFO("ACTUATOR5_ACC", 31, ParametersG2, actuator_acceleration[4], ACTUATOR_DEFAULT_INCREMENT_ACCEL),
AP_GROUPEND
};

3
ArduSub/Parameters.h
View File

@ -371,6 +371,9 @@ public:
AP_Float backup_origin_lat;
AP_Float backup_origin_lon;
AP_Float backup_origin_alt;
AP_Float actuator_increment_step[ACTUATOR_CHANNELS];
AP_Float actuator_acceleration[ACTUATOR_CHANNELS];
};
extern const AP_Param::Info var_info[];

11
ArduSub/Sub.h
View File

@ -256,6 +256,8 @@ private:
uint8_t depth_sensor_idx;
AP_Motors6DOF motors;
float aux_actuator_value[ACTUATOR_CHANNELS];
float aux_actuator_change_speed[ACTUATOR_CHANNELS];
// Circle
bool circle_pilot_yaw_override; // true if pilot is overriding yaw
@ -467,6 +469,15 @@ private:
void exit_mode(Mode::Number old_control_mode, Mode::Number new_control_mode);
void notify_flight_mode();
void read_inertia();
void initialize_servos();
void update_servos();
void increase_servo(uint8_t servo_num, bool should_accelerate);
void decrease_servo(uint8_t servo_num, bool should_accelerate);
void min_servo(uint8_t servo_num);
void max_servo(uint8_t servo_num);
void min_toggle_servo(uint8_t servo_num);
void max_toggle_servo(uint8_t servo_num);
void center_servo(uint8_t servo_num);
void update_surface_and_bottom_detector();
void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom);

4
ArduSub/defines.h
View File

@ -148,3 +148,7 @@ enum LoggingParameters {
#define MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE (1<<10)
#define MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE (1<<11)
// if you change this, aso update SRV_CHANNEL.h to add new enum entries
#define ACTUATOR_CHANNELS 5
#define ACTUATOR_DEFAULT_INCREMENT_ACCEL 0.001
#define ACTUATOR_DEFAULT_INCREMENT 0.001

260
ArduSub/joystick.cpp
View File

@ -443,177 +443,147 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
////////////////////////////////////////////////
// Servo functions
// TODO: initialize
#if AP_SERVORELAYEVENTS_ENABLED
case JSButton::button_function_t::k_servo_1_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
}
increase_servo(0, held);
break;
case JSButton::button_function_t::k_servo_1_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_1 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, pwm_out); // 1-indexed
}
case JSButton::button_function_t::k_servo_2_inc:
increase_servo(1, held);
break;
case JSButton::button_function_t::k_servo_1_min:
case JSButton::button_function_t::k_servo_1_min_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_min()); // 1-indexed
}
case JSButton::button_function_t::k_servo_3_inc:
increase_servo(2, held);
break;
case JSButton::button_function_t::k_servo_1_min_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_min()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_min()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
}
}
case JSButton::button_function_t::k_servo_4_inc:
increase_servo(3, held);
break;
case JSButton::button_function_t::k_servo_1_max:
case JSButton::button_function_t::k_servo_1_max_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_1_max_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_max()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_output_max()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
}
}
break;
case JSButton::button_function_t::k_servo_1_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_1 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_1, chan->get_trim()); // 1-indexed
}
case JSButton::button_function_t::k_servo_5_inc:
increase_servo(4, held);
break;
case JSButton::button_function_t::k_servo_2_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
}
case JSButton::button_function_t::k_servo_1_dec:
decrease_servo(0, held);
break;
case JSButton::button_function_t::k_servo_2_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_2 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, pwm_out); // 1-indexed
}
decrease_servo(1, held);
break;
case JSButton::button_function_t::k_servo_3_dec:
decrease_servo(2, held);
break;
case JSButton::button_function_t::k_servo_4_dec:
decrease_servo(3, held);
break;
case JSButton::button_function_t::k_servo_5_dec:
decrease_servo(4, held);
break;
case JSButton::button_function_t::k_servo_1_min:
case JSButton::button_function_t::k_servo_1_min_momentary:
min_servo(0);
break;
case JSButton::button_function_t::k_servo_2_min:
case JSButton::button_function_t::k_servo_2_min_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_min_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_min()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_min()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
}
}
break;
case JSButton::button_function_t::k_servo_2_max:
case JSButton::button_function_t::k_servo_2_max_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_2_max_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_max()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_output_max()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
}
}
break;
case JSButton::button_function_t::k_servo_2_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_2 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_2, chan->get_trim()); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_inc:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out + 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
}
break;
case JSButton::button_function_t::k_servo_3_dec:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
uint16_t pwm_out = hal.rcout->read(SERVO_CHAN_3 - 1); // 0-indexed
pwm_out = constrain_int16(pwm_out - 50, chan->get_output_min(), chan->get_output_max());
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, pwm_out); // 1-indexed
}
min_servo(1);
break;
case JSButton::button_function_t::k_servo_3_min:
case JSButton::button_function_t::k_servo_3_min_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed
}
min_servo(2);
break;
case JSButton::button_function_t::k_servo_4_min:
case JSButton::button_function_t::k_servo_4_min_momentary:
min_servo(3);
break;
case JSButton::button_function_t::k_servo_5_min:
case JSButton::button_function_t::k_servo_5_min_momentary:
min_servo(4);
break;
case JSButton::button_function_t::k_servo_1_min_toggle:
if (!held) {
min_toggle_servo(0);
}
break;
case JSButton::button_function_t::k_servo_2_min_toggle:
if (!held) {
min_toggle_servo(1);
}
break;
case JSButton::button_function_t::k_servo_3_min_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_min()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_min()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
}
if (!held) {
min_toggle_servo(2);
}
break;
case JSButton::button_function_t::k_servo_4_min_toggle:
if (!held) {
min_toggle_servo(3);
}
break;
case JSButton::button_function_t::k_servo_5_min_toggle:
if (!held) {
min_toggle_servo(4);
}
break;
case JSButton::button_function_t::k_servo_1_max:
case JSButton::button_function_t::k_servo_1_max_momentary:
max_servo(0);
break;
case JSButton::button_function_t::k_servo_2_max:
case JSButton::button_function_t::k_servo_2_max_momentary:
max_servo(1);
break;
case JSButton::button_function_t::k_servo_3_max:
case JSButton::button_function_t::k_servo_3_max_momentary:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed
}
max_servo(2);
break;
case JSButton::button_function_t::k_servo_3_max_toggle:
if(!held) {
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
if(chan->get_output_pwm() != chan->get_output_max()) {
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_output_max()); // 1-indexed
} else {
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
}
case JSButton::button_function_t::k_servo_4_max:
case JSButton::button_function_t::k_servo_4_max_momentary:
max_servo(3);
break;
case JSButton::button_function_t::k_servo_5_max:
case JSButton::button_function_t::k_servo_5_max_momentary:
max_servo(4);
break;
case JSButton::button_function_t::k_servo_1_max_toggle:
if (!held) {
max_toggle_servo(0);
}
break;
case JSButton::button_function_t::k_servo_2_max_toggle:
if (!held) {
max_toggle_servo(1);
}
break;
case JSButton::button_function_t::k_servo_3_max_toggle:
if (!held) {
max_toggle_servo(2);
}
break;
case JSButton::button_function_t::k_servo_4_max_toggle:
if (!held) {
max_toggle_servo(3);
}
break;
case JSButton::button_function_t::k_servo_5_max_toggle:
if (!held) {
max_toggle_servo(4);
}
break;
case JSButton::button_function_t::k_servo_1_center:
center_servo(0);
break;
case JSButton::button_function_t::k_servo_2_center:
center_servo(1);
break;
case JSButton::button_function_t::k_servo_3_center:
{
SRV_Channel* chan = SRV_Channels::srv_channel(SERVO_CHAN_3 - 1); // 0-indexed
ServoRelayEvents.do_set_servo(SERVO_CHAN_3, chan->get_trim()); // 1-indexed
}
center_servo(2);
break;
case JSButton::button_function_t::k_servo_4_center:
center_servo(3);
break;
case JSButton::button_function_t::k_servo_5_center:
center_servo(4);
break;
#endif // AP_SERVORELAYEVENTS_ENABLED

61
ArduSub/servos.cpp Normal file
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@ -0,0 +1,61 @@
#include "Sub.h"
void Sub::initialize_servos() {
const SRV_Channel::Aux_servo_function_t first_aux = SRV_Channel::Aux_servo_function_t::k_actuator1;
for (int i = 0; i < ACTUATOR_CHANNELS; i++) {
SRV_Channels::set_output_scaled((SRV_Channel::Aux_servo_function_t) ((int16_t) first_aux + i), 0);
}
}
void Sub::update_servos() {
const SRV_Channel::Aux_servo_function_t first_aux = SRV_Channel::Aux_servo_function_t::k_actuator1;
for (int i = 0; i < ACTUATOR_CHANNELS; i++) {
SRV_Channels::set_output_scaled((SRV_Channel::Aux_servo_function_t) ((int16_t) first_aux + i), aux_actuator_value[i]);
}
}
void Sub::increase_servo(uint8_t servo_num, bool should_accelerate) {
if (!should_accelerate) {
aux_actuator_change_speed[servo_num] = g2.actuator_increment_step[servo_num];
} else {
aux_actuator_change_speed[servo_num] = constrain_float(aux_actuator_change_speed[servo_num] + g2.actuator_increment_step[servo_num], -1, 1);
}
aux_actuator_value[servo_num] = constrain_float(aux_actuator_value[servo_num] + aux_actuator_change_speed[servo_num], -1, 1);
}
void Sub::decrease_servo(uint8_t servo_num, bool should_accelerate) {
if (!should_accelerate) {
aux_actuator_change_speed[servo_num] = g2.actuator_increment_step[servo_num];
} else {
aux_actuator_change_speed[servo_num] = constrain_float(aux_actuator_change_speed[servo_num] + g2.actuator_increment_step[servo_num], -1, 1);
}
aux_actuator_value[servo_num] = constrain_float(aux_actuator_value[servo_num] - aux_actuator_change_speed[servo_num], -1, 1);
}
void Sub::min_servo(uint8_t servo_num) {
aux_actuator_value[servo_num] = -1;
}
void Sub::max_servo(uint8_t servo_num) {
aux_actuator_value[servo_num] = 1;
}
void Sub::min_toggle_servo(uint8_t servo_num) {
if (aux_actuator_value[servo_num] > -1) {
aux_actuator_value[servo_num] = -1;
} else {
aux_actuator_value[servo_num] = 0;
}
}
void Sub::max_toggle_servo(uint8_t servo_num) {
if (aux_actuator_value[servo_num] < 1) {
aux_actuator_value[servo_num] = 1;
} else {
aux_actuator_value[servo_num] = 0;
}
}
void Sub::center_servo(uint8_t servo_num) {
aux_actuator_value[servo_num] = 0;
}

1
ArduSub/system.cpp
View File

@ -155,6 +155,7 @@ void Sub::init_ardupilot()
mainloop_failsafe_enable();
ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
initialize_servos();
// flag that initialisation has completed
ap.initialised = true;

20
libraries/AP_JSButton/AP_JSButton.h
View File

@ -118,6 +118,26 @@ public:
k_script_3 = 110,
k_script_4 = 111,
k_servo_4_min = 112,
k_servo_4_max = 113,
k_servo_4_center = 114,
k_servo_4_inc = 115,
k_servo_4_dec = 116,
k_servo_4_min_momentary = 117,
k_servo_4_max_momentary = 118,
k_servo_4_min_toggle = 119,
k_servo_4_max_toggle = 120,
k_servo_5_min = 121,
k_servo_5_max = 122,
k_servo_5_center = 123,
k_servo_5_inc = 124,
k_servo_5_dec = 125,
k_servo_5_min_momentary = 126,
k_servo_5_max_momentary = 127,
k_servo_5_min_toggle = 128,
k_servo_5_max_toggle = 129,
// 112+ reserved for future functions
k_nr_btn_functions ///< This must be the last enum value (only add new values _before_ this one)
} button_function_t;

1
libraries/SRV_Channel/SRV_Channel.cpp
View File

@ -156,6 +156,7 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
// @Values{Plane, Copter, Rover}: 138:Alarm,139:Alarm Inverted
// @Values: 140:RCIN1Scaled,141:RCIN2Scaled,142:RCIN3Scaled,143:RCIN4Scaled,144:RCIN5Scaled,145:RCIN6Scaled,146:RCIN7Scaled,147:RCIN8Scaled,148:RCIN9Scaled,149:RCIN10Scaled,150:RCIN11Scaled,151:RCIN12Scaled,152:RCIN13Scaled,153:RCIN14Scaled,154:RCIN15Scaled,155:RCIN16Scaled
// @Values{Plane, Copter, Rover}: 140:RCIN1Scaled,141:RCIN2Scaled,142:RCIN3Scaled,143:RCIN4Scaled,144:RCIN5Scaled,145:RCIN6Scaled,146:RCIN7Scaled,147:RCIN8Scaled,148:RCIN9Scaled,149:RCIN10Scaled,150:RCIN11Scaled,151:RCIN12Scaled,152:RCIN13Scaled,153:RCIN14Scaled,154:RCIN15Scaled,155:RCIN16Scaled
// @Values{Sub}: 157: Actuator1,158: Actuator2,159: Actuator3,160: Actuator4,161: Actuator5,162: Actuator6,163: Actuator7,164: Actuator8
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FUNCTION", 5, SRV_Channel, function, 0),

5
libraries/SRV_Channel/SRV_Channel.h
View File

@ -189,6 +189,11 @@ public:
k_rcin15_mapped = 154,
k_rcin16_mapped = 155,
k_lift_release = 156,
k_actuator1 = 157, // Aux channels used for controlling user peripherals
k_actuator2 = 158,
k_actuator3 = 159,
k_actuator4 = 160,
k_actuator5 = 161,
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t;

4
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -200,6 +200,10 @@ void SRV_Channel::aux_servo_function_setup(void)
// fixed wing throttle
set_range(100);
break;
case k_actuator1 ... k_actuator5:
// We take floats from -1 to 1. see MAV_CMD_DO_SET_ACTUATOR
set_angle(1);
break;
default:
break;
}