mirror of https://github.com/ArduPilot/ardupilot
These changes were meant to be inside commit a14c06adc06b. I'm sorry but reverting stuff is not that easy
This commit is contained in:
Amilcar Lucas
parent
2357d3d41e
commit
f08cea8044
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@ -1,5 +1,4 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
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// their default values, place the appropriate #define statements here.
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@ -304,19 +304,6 @@
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//#define FLIGHT_MODE_6 MANUAL
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//
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//////////////////////////////////////////////////////////////////////////////
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// RC_5_FUNCT OPTIONAL
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// RC_6_FUNCT OPTIONAL
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// RC_7_FUNCT OPTIONAL
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// RC_8_FUNCT OPTIONAL
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//
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// The channel 5 through 8 function assignments allow configuration of those
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// channels for use with differential ailerons, flaps, flaperons, or camera
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// or intrument mounts
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//
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//#define RC_5_FUNCT RC_5_FUNCT_NONE
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//etc.
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//////////////////////////////////////////////////////////////////////////////
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// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed
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// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed
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@ -415,6 +415,7 @@ static unsigned long nav_loopTimer; // used to track the elapsed time for GP
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static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
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static float load; // % MCU cycles used
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RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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////////////////////////////////////////////////////////////////////////////////
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// Top-level logic
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@ -710,6 +711,8 @@ static void slow_loop()
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// ----------------------------------
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update_servo_switches();
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
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break;
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case 2:
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@ -17,7 +17,7 @@ public:
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// The increment will prevent old parameters from being used incorrectly
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// by newer code.
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//
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static const uint16_t k_format_version = 11;
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static const uint16_t k_format_version = 12;
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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@ -134,11 +134,6 @@ public:
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k_param_long_fs_action,
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k_param_gcs_heartbeat_fs_enabled,
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k_param_throttle_slewrate,
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k_param_rc_5_funct,
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k_param_rc_6_funct,
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k_param_rc_7_funct,
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k_param_rc_8_funct,
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//
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// 200: Feed-forward gains
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@ -327,14 +322,10 @@ public:
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RC_Channel channel_pitch;
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RC_Channel channel_throttle;
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RC_Channel channel_rudder;
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RC_Channel rc_5;
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RC_Channel rc_6;
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RC_Channel rc_7;
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RC_Channel rc_8;
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AP_Int8 rc_5_funct;
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AP_Int8 rc_6_funct;
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AP_Int8 rc_7_funct;
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AP_Int8 rc_8_funct;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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// PID controllers
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//
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@ -428,10 +419,6 @@ public:
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inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")),
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sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")),
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airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")),
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rc_5_funct (RC_5_FUNCT, k_param_rc_5_funct, PSTR("RC5_FUNCT")),
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rc_6_funct (RC_6_FUNCT, k_param_rc_6_funct, PSTR("RC6_FUNCT")),
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rc_7_funct (RC_7_FUNCT, k_param_rc_7_funct, PSTR("RC7_FUNCT")),
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rc_8_funct (RC_8_FUNCT, k_param_rc_8_funct, PSTR("RC8_FUNCT")),
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// Note - total parameter name length must be less than 14 characters for MAVLink compatibility!
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@ -226,19 +226,6 @@
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# define CH8_MAX 2000
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#endif
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//////////////////////////////////////////////////////////////////////////////
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#ifndef RC_5_FUNCT
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# define RC_5_FUNCT RC_5_FUNCT_NONE
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#endif
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#ifndef RC_6_FUNCT
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# define RC_6_FUNCT RC_6_FUNCT_NONE
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#endif
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#ifndef RC_7_FUNCT
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# define RC_7_FUNCT RC_7_FUNCT_NONE
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#endif
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#ifndef RC_8_FUNCT
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# define RC_8_FUNCT RC_8_FUNCT_NONE
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#endif
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#ifndef FLAP_1_PERCENT
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# define FLAP_1_PERCENT 0
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@ -41,39 +41,12 @@
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#define GPS_PROTOCOL_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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// Radio channels
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// Note channels are from 0!
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//
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// XXX these should be CH_n defines from RC.h at some point.
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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#define CH_THROTTLE CH_3
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#define CH_RUDDER CH_4
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#define CH_YAW CH_4
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#define RC_5_FUNCT_NONE 0
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#define RC_5_FUNCT_AILERON 1
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#define RC_5_FUNCT_FLAP_AUTO 2
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#define RC_5_FUNCT_FLAPERON 3
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#define RC_6_FUNCT_NONE 0
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#define RC_6_FUNCT_AILERON 1
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#define RC_6_FUNCT_FLAP_AUTO 2
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#define RC_6_FUNCT_FLAPERON 3
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#define RC_7_FUNCT_NONE 0
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#define RC_8_FUNCT_NONE 0
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// HIL enumerations
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#define HIL_PROTOCOL_XPLANE 1
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#define HIL_PROTOCOL_MAVLINK 2
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@ -5,6 +5,17 @@
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#define MIN_PULSEWIDTH 900
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#define MAX_PULSEWIDTH 2100
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// Radio channels
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// Note channels are from 0!
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#include <inttypes.h>
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class APM_RC_Class
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@ -1,7 +1,7 @@
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#ifndef AP_DCM_h
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#define AP_DCM_h
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// teporarily include all other classes here
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// temporarily include all other classes here
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// since this naming is a bit off from the
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// convention and the AP_DCM should be the top
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// header file
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@ -120,7 +120,7 @@ RC_Channel::calc_pwm(void)
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{
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if(_type == RC_CHANNEL_RANGE){
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pwm_out = range_to_pwm();
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radio_out = pwm_out + radio_min;
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radio_out = (_reverse >=0 ? pwm_out + radio_min : radio_max - pwm_out);
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}else if(_type == RC_CHANNEL_ANGLE_RAW){
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pwm_out = (float)servo_out * .1;
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@ -7,12 +7,11 @@
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#define RC_Channel_h
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#include <AP_Common.h>
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#include <stdint.h>
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/// @class RC_Channel
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/// @brief Object managing one RC channel
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class RC_Channel{
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private:
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protected:
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AP_Var_group _group; // must be before all vars to keep ctor init order correct
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public:
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@ -103,8 +102,7 @@ class RC_Channel{
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int16_t _low;
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};
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// This is ugly, but it fixes compilation on arduino
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#include "RC_Channel_aux.h"
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#endif
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