Tracker: minimal support for inheritting from RC_Channel

AntennaTracker/Parameters.cpp

@@ -300,8 +300,8 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
     GOBJECT(notify, "NTF_",  AP_Notify),
 
-    // @Path: ../libraries/RC_Channel/RC_Channels.cpp
-    GOBJECT(rc_channels,     "RC", RC_Channels),
+    // @Path: RC_Channels.cpp
+    GOBJECT(rc_channels,     "RC", RC_Channels_Tracker),
 
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
     GOBJECT(servo_channels,     "SERVO", SRV_Channels),

AntennaTracker/RC_Channel.cpp

@@ -0,0 +1,71 @@
+#include "Tracker.h"
+
+#include "RC_Channel.h"
+
+const AP_Param::GroupInfo RC_Channels::var_info[] = {
+    // @Group: 1_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[0], "1_",  1, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 2_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[1], "2_",  2, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 3_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[2], "3_",  3, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 4_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[3], "4_",  4, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 5_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[4], "5_",  5, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 6_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[5], "6_",  6, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 7_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[6], "7_",  7, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 8_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[7], "8_",  8, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 9_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[8], "9_",  9, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 10_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 11_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 12_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 13_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 14_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 15_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    // @Group: 16_
+    // @Path: RC_Channel.cpp
+    AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels_Tracker, RC_Channel_Tracker),
+
+    AP_GROUPEND
+};

AntennaTracker/RC_Channel.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#include <RC_Channel/RC_Channel.h>
+
+class RC_Channel_Tracker : public RC_Channel
+{
+
+public:
+
+protected:
+
+private:
+
+};
+
+class RC_Channels_Tracker : public RC_Channels
+{
+public:
+
+    RC_Channel_Tracker obj_channels[NUM_RC_CHANNELS];
+    RC_Channel_Tracker *channel(const uint8_t chan) override {
+        if (chan > NUM_RC_CHANNELS) {
+            return nullptr;
+        }
+        return &obj_channels[chan];
+    }
+
+protected:
+
+};

AntennaTracker/Tracker.h

@@ -55,7 +55,6 @@
 #include <AP_Notify/AP_Notify.h>      // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
 #include <AP_Airspeed/AP_Airspeed.h>
-#include <RC_Channel/RC_Channel.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
@@ -66,6 +65,7 @@
 #include "config.h"
 #include "defines.h"
 
+#include "RC_Channel.h"
 #include "Parameters.h"
 #include "GCS_Mavlink.h"
 #include "GCS_Tracker.h"
@@ -127,7 +127,7 @@ private:
     /**
        antenna control channels
     */
-    RC_Channels rc_channels;
+    RC_Channels_Tracker rc_channels;
     SRV_Channels servo_channels;
 
     LowPassFilterFloat yaw_servo_out_filt;

AntennaTracker/camera.cpp

@@ -0,0 +1,13 @@
+/* dummy methods to avoid having to link against AP_Camera */
+
+#include <AP_Camera/AP_Camera.h>
+
+namespace AP {
+    AP_Camera *camera() {
+        return nullptr;
+    }
+};
+
+void AP_Camera::take_picture()
+{
+}

AntennaTracker/radio.cpp

@@ -4,5 +4,5 @@
 
 void Tracker::read_radio()
 {
-    RC_Channels::read_input();
+    rc().read_input();
 }