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Moved a function from radio.pde to the RC_Channel_aux library. Now its more readable and reusable

This commit is contained in:
Amilcar Lucas 2011-09-10 13:26:29 +02:00
parent b7a0d8836a
commit f4998c3673
4 changed files with 37 additions and 32 deletions
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8
ArduPlane/Attitude.pde
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@ -339,10 +339,10 @@ static void set_servos(void)
APM_RC.OutputCh(CH_3, g.channel_throttle.radio_out); // send to Servos
APM_RC.OutputCh(CH_4, g.channel_rudder.radio_out); // send to Servos
// Route configurable aux. functions to their respective servos
aux_servo_out(&g.rc_5, CH_5);
aux_servo_out(&g.rc_6, CH_6);
aux_servo_out(&g.rc_7, CH_7);
aux_servo_out(&g.rc_8, CH_8);
g.rc_5.output_ch(CH_5);
g.rc_6.output_ch(CH_6);
g.rc_7.output_ch(CH_7);
g.rc_8.output_ch(CH_8);
#endif
}

28
ArduPlane/radio.pde
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@ -247,34 +247,6 @@ static void trim_radio()
if (g_rc_function[RC_Channel_aux::k_aileron] != NULL) g_rc_function[RC_Channel_aux::k_aileron]->save_eeprom();
}
// map a function to a servo channel
static void aux_servo_out(RC_Channel_aux* ch, unsigned char ch_nr)
{
switch(ch->function)
{
case RC_Channel_aux::k_none: // disabled
return;
break;
case RC_Channel_aux::k_mount_yaw: // mount yaw (pan)
case RC_Channel_aux::k_mount_pitch: // mount pitch (tilt)
case RC_Channel_aux::k_mount_roll: // mount roll
case RC_Channel_aux::k_cam_trigger: // camera trigger
case RC_Channel_aux::k_cam_open: // camera open
case RC_Channel_aux::k_flap: // flaps
case RC_Channel_aux::k_flap_auto: // flaps automated
case RC_Channel_aux::k_aileron: // aileron
case RC_Channel_aux::k_flaperon: // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
case RC_Channel_aux::k_egg_drop: // egg drop
case RC_Channel_aux::k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
break;
case RC_Channel_aux::k_manual: // manual
ch->radio_out = ch->radio_in;
break;
}
APM_RC.OutputCh(ch_nr, ch->radio_out);
}
// update the g_rc_function array from pointers to rc_x channels
static void update_aux_servo_function()
{

30
libraries/RC_Channel/RC_Channel.cpp
View File

@ -11,6 +11,7 @@
#include <math.h>
#include <avr/eeprom.h>
#include <APM_RC.h>
#include "WProgram.h"
#include "RC_Channel.h"
@ -253,3 +254,32 @@ RC_Channel_aux::closest_limit(int16_t angle)
return angle;
}
// map a function to a servo channel and output it
void
RC_Channel_aux::output_ch(unsigned char ch_nr)
{
switch(function)
{
case k_none: // disabled
return;
break;
case k_mount_yaw: // mount yaw (pan)
case k_mount_pitch: // mount pitch (tilt)
case k_mount_roll: // mount roll
case k_cam_trigger: // camera trigger
case k_cam_open: // camera open
case k_flap: // flaps
case k_flap_auto: // flaps automated
case k_aileron: // aileron
case k_flaperon: // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
case k_egg_drop: // egg drop
case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
break;
case k_manual: // manual
radio_out = radio_in;
break;
}
APM_RC.OutputCh(ch_nr, radio_out);
}

3
libraries/RC_Channel/RC_Channel.h
View File

@ -144,6 +144,9 @@ public:
AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
};
#endif