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SRV_Channel: Add SRV fucntions for scaled RC passthrough

This commit is contained in:
TunaLobster 2022-08-05 15:07:04 -05:00 committed by Andrew Tridgell
parent da5ec973c5
commit f28f5a1ad5
3 changed files with 31 additions and 5 deletions
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8
libraries/SRV_Channel/SRV_Channel.cpp
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@ -64,10 +64,10 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
// @Param: FUNCTION // @Param: FUNCTION
// @DisplayName: Servo output function // @DisplayName: Servo output function
// @Description: Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function // @Description: Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
// @Values: -1:GPIO,0:Disabled,1:RCPassThru,2:Flap,3:FlapAuto,4:Aileron,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,16:DifferentialSpoilerLeft1,17:DifferentialSpoilerRight1,19:Elevator,21:Rudder,22:SprayerPump,23:SprayerSpinner,24:FlaperonLeft,25:FlaperonRight,26:GroundSteering,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,41:TiltMotorsFront,45:TiltMotorsRear,46:TiltMotorRearLeft,47:TiltMotorRearRight,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,69:Starter,70:Throttle,71:TrackerYaw,72:TrackerPitch,73:ThrottleLeft,74:ThrottleRight,75:TiltMotorFrontLeft,76:TiltMotorFrontRight,77:ElevonLeft,78:ElevonRight,79:VTailLeft,80:VTailRight,81:BoostThrottle,82:Motor9,83:Motor10,84:Motor11,85:Motor12,86:DifferentialSpoilerLeft2,87:DifferentialSpoilerRight2,88:Winch,89:Main Sail,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,128:WingSailElevator,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,133:Winch Clutch,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,137:SailMastRotation,138:Alarm,139:Alarm Inverted // @Values: -1:GPIO,0:Disabled,1:RCPassThru,2:Flap,3:FlapAuto,4:Aileron,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,16:DifferentialSpoilerLeft1,17:DifferentialSpoilerRight1,19:Elevator,21:Rudder,22:SprayerPump,23:SprayerSpinner,24:FlaperonLeft,25:FlaperonRight,26:GroundSteering,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,41:TiltMotorsFront,45:TiltMotorsRear,46:TiltMotorRearLeft,47:TiltMotorRearRight,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,69:Starter,70:Throttle,71:TrackerYaw,72:TrackerPitch,73:ThrottleLeft,74:ThrottleRight,75:TiltMotorFrontLeft,76:TiltMotorFrontRight,77:ElevonLeft,78:ElevonRight,79:VTailLeft,80:VTailRight,81:BoostThrottle,82:Motor9,83:Motor10,84:Motor11,85:Motor12,86:DifferentialSpoilerLeft2,87:DifferentialSpoilerRight2,88:Winch,89:Main Sail,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,128:WingSailElevator,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,133:Winch Clutch,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,137:SailMastRotation,138:Alarm,139:Alarm Inverted,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,156:RCIN17Scaled
// @Values{Plane}: -1:GPIO,0:Disabled,1:RCPassThru,2:Flap,3:FlapAuto,4:Aileron,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,16:DifferentialSpoilerLeft1,17:DifferentialSpoilerRight1,19:Elevator,21:Rudder,22:SprayerPump,23:SprayerSpinner,24:FlaperonLeft,25:FlaperonRight,26:GroundSteering,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7/TailTiltServo,40:Motor8,41:TiltMotorsFront,45:TiltMotorsRear,46:TiltMotorRearLeft,47:TiltMotorRearRight,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,69:Starter,70:Throttle,73:ThrottleLeft,74:ThrottleRight,75:TiltMotorFrontLeft,76:TiltMotorFrontRight,77:ElevonLeft,78:ElevonRight,79:VTailLeft,80:VTailRight,82:Motor9,83:Motor10,84:Motor11,85:Motor12,86:DifferentialSpoilerLeft2,87:DifferentialSpoilerRight2,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,110:Airbrakes,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,138:Alarm,139:Alarm Inverted // @Values{Plane}: -1:GPIO,0:Disabled,1:RCPassThru,2:Flap,3:FlapAuto,4:Aileron,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,16:DifferentialSpoilerLeft1,17:DifferentialSpoilerRight1,19:Elevator,21:Rudder,22:SprayerPump,23:SprayerSpinner,24:FlaperonLeft,25:FlaperonRight,26:GroundSteering,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7/TailTiltServo,40:Motor8,41:TiltMotorsFront,45:TiltMotorsRear,46:TiltMotorRearLeft,47:TiltMotorRearRight,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,69:Starter,70:Throttle,73:ThrottleLeft,74:ThrottleRight,75:TiltMotorFrontLeft,76:TiltMotorFrontRight,77:ElevonLeft,78:ElevonRight,79:VTailLeft,80:VTailRight,82:Motor9,83:Motor10,84:Motor11,85:Motor12,86:DifferentialSpoilerLeft2,87:DifferentialSpoilerRight2,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,110:Airbrakes,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,138:Alarm,139:Alarm Inverted,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,156:RCIN17Scaled
// @Values{Copter}: -1:GPIO,0:Disabled,1:RCPassThru,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,22:SprayerPump,23:SprayerSpinner,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,73:ThrottleLeft,74:ThrottleRight,75:TiltMotorFrontLeft,76:TiltMotorFrontRight,81:BoostThrottle,82:Motor9,83:Motor10,84:Motor11,85:Motor12,88:Winch,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,133:Winch Clutch,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,138:Alarm,139:Alarm Inverted // @Values{Copter}: -1:GPIO,0:Disabled,1:RCPassThru,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,22:SprayerPump,23:SprayerSpinner,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,73:ThrottleLeft,74:ThrottleRight,75:TiltMotorFrontLeft,76:TiltMotorFrontRight,81:BoostThrottle,82:Motor9,83:Motor10,84:Motor11,85:Motor12,88:Winch,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,133:Winch Clutch,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,138:Alarm,139:Alarm Inverted,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,156:RCIN17Scaled
// @Values{Rover}: -1:GPIO,0:Disabled,1:RCPassThru,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,22:SprayerPump,23:SprayerSpinner,26:GroundSteering,28:Gripper,33:Motor1,34:Motor2,35:Motor3,36:Motor4,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,70:Throttle,73:ThrottleLeft,74:ThrottleRight,88:Winch,89:Main Sail,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,128:WingSailElevator,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,133:Winch Clutch,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,137:SailMastRotation,138:Alarm,139:Alarm Inverted // @Values{Rover}: -1:GPIO,0:Disabled,1:RCPassThru,6:MountPan,7:MountTilt,8:MountRoll,9:MountOpen,10:CameraTrigger,12:Mount2Pan,13:Mount2Tilt,14:Mount2Roll,15:Mount2Open,22:SprayerPump,23:SprayerSpinner,26:GroundSteering,28:Gripper,33:Motor1,34:Motor2,35:Motor3,36:Motor4,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,70:Throttle,73:ThrottleLeft,74:ThrottleRight,88:Winch,89:Main Sail,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script1,95:Script2,96:Script3,97:Script4,98:Script5,99:Script6,100:Script7,101:Script8,102:Script9,103:Script10,104:Script11,105:Script12,106:Script13,107:Script14,108:Script15,109:Script16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,128:WingSailElevator,129:ProfiLED1,130:ProfiLED2,131:ProfiLED3,132:ProfiLEDClock,133:Winch Clutch,134:SERVOn_MIN,135:SERVOn_TRIM,136:SERVOn_MAX,137:SailMastRotation,138:Alarm,139:Alarm Inverted,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,156:RCIN17Scaled
// @User: Standard // @User: Standard
// @RebootRequired: True // @RebootRequired: True
AP_GROUPINFO("FUNCTION", 5, SRV_Channel, function, 0), AP_GROUPINFO("FUNCTION", 5, SRV_Channel, function, 0),

16
libraries/SRV_Channel/SRV_Channel.h
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@ -183,6 +183,22 @@ public:
k_mast_rotation = 137, k_mast_rotation = 137,
k_alarm = 138, k_alarm = 138,
k_alarm_inverted = 139, k_alarm_inverted = 139,
k_rcin1_mapped = 140,
k_rcin2_mapped = 141,
k_rcin3_mapped = 142,
k_rcin4_mapped = 143,
k_rcin5_mapped = 144,
k_rcin6_mapped = 145,
k_rcin7_mapped = 146,
k_rcin8_mapped = 147,
k_rcin9_mapped = 148,
k_rcin10_mapped = 149,
k_rcin11_mapped = 150,
k_rcin12_mapped = 151,
k_rcin13_mapped = 152,
k_rcin14_mapped = 153,
k_rcin15_mapped = 154,
k_rcin16_mapped = 155,
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one) k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t; } Aux_servo_function_t;

12
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -32,6 +32,7 @@ void SRV_Channel::output_ch(void)
{ {
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
int8_t passthrough_from = -1; int8_t passthrough_from = -1;
bool passthrough_mapped = false;
// take care of special function cases // take care of special function cases
switch(function.get()) switch(function.get())
@ -42,6 +43,10 @@ void SRV_Channel::output_ch(void)
case k_rcin1 ... k_rcin16: // rc pass-thru case k_rcin1 ... k_rcin16: // rc pass-thru
passthrough_from = int8_t((int16_t)function - k_rcin1); passthrough_from = int8_t((int16_t)function - k_rcin1);
break; break;
case k_rcin1_mapped ... k_rcin16_mapped:
passthrough_from = int8_t((int16_t)function - k_rcin1_mapped);
passthrough_mapped = true;
break;
} }
if (passthrough_from != -1) { if (passthrough_from != -1) {
// we are doing passthrough from input to output for this channel // we are doing passthrough from input to output for this channel
@ -50,7 +55,11 @@ void SRV_Channel::output_ch(void)
if (SRV_Channels::passthrough_disabled()) { if (SRV_Channels::passthrough_disabled()) {
output_pwm = c->get_radio_trim(); output_pwm = c->get_radio_trim();
} else { } else {
const int16_t radio_in = c->get_radio_in(); // non-mapped rc passthrough
int16_t radio_in = c->get_radio_in();
if (passthrough_mapped) {
radio_in = pwm_from_angle(c->norm_input_dz() * 4500);
}
if (!ign_small_rcin_changes) { if (!ign_small_rcin_changes) {
output_pwm = radio_in; output_pwm = radio_in;
previous_radio_in = radio_in; previous_radio_in = radio_in;
@ -159,6 +168,7 @@ void SRV_Channel::aux_servo_function_setup(void)
case k_roll_out: case k_roll_out:
case k_pitch_out: case k_pitch_out:
case k_yaw_out: case k_yaw_out:
case k_rcin1_mapped ... k_rcin16_mapped:
set_angle(4500); set_angle(4500);
break; break;
case k_throttle: case k_throttle: