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https://github.com/ArduPilot/ardupilot
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SRV_Channel: rename SRV_Channel::Aux_servo_function_t to SRV_Channel::Function
This commit is contained in:
Peter Barker
Peter Barker
parent
5f9701bb67
commit
fbe1661c04
@ -309,7 +309,7 @@ uint16_t SRV_Channel::get_limit_pwm(Limit limit) const
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}
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// return true if function is for a multicopter motor
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bool SRV_Channel::is_motor(SRV_Channel::Aux_servo_function_t function)
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bool SRV_Channel::is_motor(SRV_Channel::Function function)
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{
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return ((function >= SRV_Channel::k_motor1 && function <= SRV_Channel::k_motor8) ||
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(function >= SRV_Channel::k_motor9 && function <= SRV_Channel::k_motor12) ||
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@ -317,30 +317,30 @@ bool SRV_Channel::is_motor(SRV_Channel::Aux_servo_function_t function)
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}
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// return true if function is for anything that should be stopped in a e-stop situation, ie is dangerous
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bool SRV_Channel::should_e_stop(SRV_Channel::Aux_servo_function_t function)
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bool SRV_Channel::should_e_stop(SRV_Channel::Function function)
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{
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switch (function) {
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case Aux_servo_function_t::k_heli_rsc:
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case Aux_servo_function_t::k_heli_tail_rsc:
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case Aux_servo_function_t::k_motor1:
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case Aux_servo_function_t::k_motor2:
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case Aux_servo_function_t::k_motor3:
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case Aux_servo_function_t::k_motor4:
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case Aux_servo_function_t::k_motor5:
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case Aux_servo_function_t::k_motor6:
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case Aux_servo_function_t::k_motor7:
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case Aux_servo_function_t::k_motor8:
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case Aux_servo_function_t::k_starter:
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case Aux_servo_function_t::k_throttle:
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case Aux_servo_function_t::k_throttleLeft:
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case Aux_servo_function_t::k_throttleRight:
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case Aux_servo_function_t::k_boost_throttle:
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case Aux_servo_function_t::k_motor9:
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case Aux_servo_function_t::k_motor10:
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case Aux_servo_function_t::k_motor11:
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case Aux_servo_function_t::k_motor12:
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case Aux_servo_function_t::k_motor13 ... Aux_servo_function_t::k_motor32:
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case Aux_servo_function_t::k_engine_run_enable:
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case Function::k_heli_rsc:
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case Function::k_heli_tail_rsc:
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case Function::k_motor1:
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case Function::k_motor2:
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case Function::k_motor3:
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case Function::k_motor4:
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case Function::k_motor5:
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case Function::k_motor6:
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case Function::k_motor7:
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case Function::k_motor8:
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case Function::k_starter:
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case Function::k_throttle:
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case Function::k_throttleLeft:
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case Function::k_throttleRight:
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case Function::k_boost_throttle:
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case Function::k_motor9:
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case Function::k_motor10:
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case Function::k_motor11:
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case Function::k_motor12:
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case Function::k_motor13 ... Function::k_motor32:
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case Function::k_engine_run_enable:
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return true;
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default:
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return false;
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@ -349,26 +349,25 @@ bool SRV_Channel::should_e_stop(SRV_Channel::Aux_servo_function_t function)
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}
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// return true if function is for a control surface
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bool SRV_Channel::is_control_surface(SRV_Channel::Aux_servo_function_t function)
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bool SRV_Channel::is_control_surface(SRV_Channel::Function function)
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{
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switch (function)
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{
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case SRV_Channel::Aux_servo_function_t::k_flap:
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case SRV_Channel::Aux_servo_function_t::k_flap_auto:
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case SRV_Channel::Aux_servo_function_t::k_aileron:
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case SRV_Channel::Aux_servo_function_t::k_dspoilerLeft1:
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case SRV_Channel::Aux_servo_function_t::k_dspoilerLeft2:
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case SRV_Channel::Aux_servo_function_t::k_dspoilerRight1:
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case SRV_Channel::Aux_servo_function_t::k_dspoilerRight2:
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case SRV_Channel::Aux_servo_function_t::k_elevator:
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case SRV_Channel::Aux_servo_function_t::k_rudder:
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case SRV_Channel::Aux_servo_function_t::k_flaperon_left:
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case SRV_Channel::Aux_servo_function_t::k_flaperon_right:
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case SRV_Channel::Aux_servo_function_t::k_elevon_left:
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case SRV_Channel::Aux_servo_function_t::k_elevon_right:
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case SRV_Channel::Aux_servo_function_t::k_vtail_left:
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case SRV_Channel::Aux_servo_function_t::k_vtail_right:
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case SRV_Channel::Aux_servo_function_t::k_airbrake:
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switch (function) {
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case Function::k_flap:
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case Function::k_flap_auto:
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case Function::k_aileron:
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case Function::k_dspoilerLeft1:
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case Function::k_dspoilerLeft2:
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case Function::k_dspoilerRight1:
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case Function::k_dspoilerRight2:
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case Function::k_elevator:
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case Function::k_rudder:
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case Function::k_flaperon_left:
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case Function::k_flaperon_right:
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case Function::k_elevon_left:
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case Function::k_elevon_right:
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case Function::k_vtail_left:
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case Function::k_vtail_right:
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case Function::k_airbrake:
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return true;
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default:
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@ -210,10 +210,10 @@ public:
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k_motor31 = 178,
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k_motor32 = 179,
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k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
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} Aux_servo_function_t;
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} Function;
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// check if a function is valid for indexing into functions
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static bool valid_function(Aux_servo_function_t fn) {
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static bool valid_function(Function fn) {
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return fn >= k_none && fn < k_nr_aux_servo_functions;
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}
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bool valid_function(void) const {
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@ -268,24 +268,24 @@ public:
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}
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// return true if function is for a multicopter motor
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static bool is_motor(SRV_Channel::Aux_servo_function_t function);
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static bool is_motor(Function function);
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// return true if function is for anything that should be stopped in a e-stop situation, ie is dangerous
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static bool should_e_stop(SRV_Channel::Aux_servo_function_t function);
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static bool should_e_stop(Function function);
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// return true if function is for a control surface
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static bool is_control_surface(SRV_Channel::Aux_servo_function_t function);
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static bool is_control_surface(Function function);
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// return the function of a channel
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SRV_Channel::Aux_servo_function_t get_function(void) const {
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return (SRV_Channel::Aux_servo_function_t)function.get();
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SRV_Channel::Function get_function(void) const {
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return (SRV_Channel::Function)function.get();
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}
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// return the motor number of a channel, or -1 if not a motor
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int8_t get_motor_num(void) const;
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// set and save function for channel. Used in upgrade of parameters in plane
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void function_set_and_save(SRV_Channel::Aux_servo_function_t f) {
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void function_set_and_save(Function f) {
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function.set_and_save(int8_t(f));
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}
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@ -314,7 +314,7 @@ private:
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AP_Int16 servo_trim;
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// reversal, following convention that 1 means reversed, 0 means normal
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AP_Int8 reversed;
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AP_Enum16<Aux_servo_function_t> function;
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AP_Enum16<Function> function;
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// a pending output value as PWM
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uint16_t output_pwm;
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@ -385,10 +385,10 @@ public:
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static const struct AP_Param::GroupInfo var_info[];
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// set the default function for a channel
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static void set_default_function(uint8_t chan, SRV_Channel::Aux_servo_function_t function);
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static void set_default_function(uint8_t chan, SRV_Channel::Function function);
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// set output value for a function channel as a pwm value
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static void set_output_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t value);
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static void set_output_pwm(SRV_Channel::Function function, uint16_t value);
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// set output value for a specific function channel as a pwm value
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static void set_output_pwm_chan(uint8_t chan, uint16_t value);
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@ -401,50 +401,50 @@ public:
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// set output value for a function channel as a scaled value. This
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// this should be followed by a call to calc_pwm() to output the pwm values
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static void set_output_scaled(SRV_Channel::Aux_servo_function_t function, float value);
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static void set_output_scaled(SRV_Channel::Function function, float value);
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// get scaled output for the given function type.
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static float get_output_scaled(SRV_Channel::Aux_servo_function_t function);
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static float get_output_scaled(SRV_Channel::Function function);
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// get slew limited scaled output for the given function type
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static float get_slew_limited_output_scaled(SRV_Channel::Aux_servo_function_t function);
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static float get_slew_limited_output_scaled(SRV_Channel::Function function);
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// get pwm output for the first channel of the given function type.
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static bool get_output_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t &value);
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static bool get_output_pwm(SRV_Channel::Function function, uint16_t &value);
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// get normalised output (-1 to 1 with 0 at mid point of servo_min/servo_max)
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// Value is taken from pwm value. Returns zero on error.
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static float get_output_norm(SRV_Channel::Aux_servo_function_t function);
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static float get_output_norm(SRV_Channel::Function function);
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// set normalised output (-1 to 1 with 0 at mid point of servo_min/servo_max) for the given function
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static void set_output_norm(SRV_Channel::Aux_servo_function_t function, float value);
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static void set_output_norm(SRV_Channel::Function function, float value);
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// get output channel mask for a function
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static uint32_t get_output_channel_mask(SRV_Channel::Aux_servo_function_t function);
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static uint32_t get_output_channel_mask(SRV_Channel::Function function);
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// limit slew rate to given limit in percent per second
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static void set_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, uint16_t range, float dt);
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static void set_slew_rate(SRV_Channel::Function function, float slew_rate, uint16_t range, float dt);
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// call output_ch() on all channels
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static void output_ch_all(void);
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// setup output ESC scaling based on a channels MIN/MAX
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void set_esc_scaling_for(SRV_Channel::Aux_servo_function_t function);
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void set_esc_scaling_for(SRV_Channel::Function function);
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// return true when auto_trim enabled
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bool auto_trim_enabled(void) const { return auto_trim; }
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// adjust trim of a channel by a small increment
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void adjust_trim(SRV_Channel::Aux_servo_function_t function, float v);
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void adjust_trim(SRV_Channel::Function function, float v);
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// set MIN/MAX parameters for a function
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static void set_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm);
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static void set_output_min_max(SRV_Channel::Function function, uint16_t min_pwm, uint16_t max_pwm);
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// set MIN/MAX parameter defaults for a function
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static void set_output_min_max_defaults(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm);
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static void set_output_min_max_defaults(SRV_Channel::Function function, uint16_t min_pwm, uint16_t max_pwm);
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// Save MIN/MAX/REVERSED parameters for a function
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static void save_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm);
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static void save_output_min_max(SRV_Channel::Function function, uint16_t min_pwm, uint16_t max_pwm);
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// save trims
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void save_trim(void);
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@ -453,46 +453,46 @@ public:
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static void setup_failsafe_trim_all_non_motors(void);
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// set output for all channels matching the given function type, allow radio_trim to center servo
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static void set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function, int16_t value);
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static void set_output_pwm_trimmed(SRV_Channel::Function function, int16_t value);
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// set and save the trim for a function channel to the output value
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static void set_trim_to_servo_out_for(SRV_Channel::Aux_servo_function_t function);
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static void set_trim_to_servo_out_for(SRV_Channel::Function function);
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// set the trim for a function channel to min of the channel honnoring reverse unless ignore_reversed is true
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static void set_trim_to_min_for(SRV_Channel::Aux_servo_function_t function, bool ignore_reversed = false);
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static void set_trim_to_min_for(SRV_Channel::Function function, bool ignore_reversed = false);
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// set the trim for a function channel to given pwm
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static void set_trim_to_pwm_for(SRV_Channel::Aux_servo_function_t function, int16_t pwm);
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static void set_trim_to_pwm_for(SRV_Channel::Function function, int16_t pwm);
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// set output to min value
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static void set_output_to_min(SRV_Channel::Aux_servo_function_t function);
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static void set_output_to_min(SRV_Channel::Function function);
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// set output to max value
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static void set_output_to_max(SRV_Channel::Aux_servo_function_t function);
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static void set_output_to_max(SRV_Channel::Function function);
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// set output to trim value
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static void set_output_to_trim(SRV_Channel::Aux_servo_function_t function);
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static void set_output_to_trim(SRV_Channel::Function function);
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// copy radio_in to servo out
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static void copy_radio_in_out(SRV_Channel::Aux_servo_function_t function, bool do_input_output=false);
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static void copy_radio_in_out(SRV_Channel::Function function, bool do_input_output=false);
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// copy radio_in to servo_out by channel mask
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static void copy_radio_in_out_mask(uint32_t mask);
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// setup failsafe for an auxiliary channel function, by pwm
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static void set_failsafe_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t pwm);
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static void set_failsafe_pwm(SRV_Channel::Function function, uint16_t pwm);
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// setup failsafe for an auxiliary channel function
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static void set_failsafe_limit(SRV_Channel::Aux_servo_function_t function, SRV_Channel::Limit limit);
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static void set_failsafe_limit(SRV_Channel::Function function, SRV_Channel::Limit limit);
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// set servo to a Limit
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static void set_output_limit(SRV_Channel::Aux_servo_function_t function, SRV_Channel::Limit limit);
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static void set_output_limit(SRV_Channel::Function function, SRV_Channel::Limit limit);
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// return true if a function is assigned to a channel
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static bool function_assigned(SRV_Channel::Aux_servo_function_t function);
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static bool function_assigned(SRV_Channel::Function function);
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// set a servo_out value, and angle range, then calc_pwm
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static void move_servo(SRV_Channel::Aux_servo_function_t function,
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static void move_servo(SRV_Channel::Function function,
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int16_t value, int16_t angle_min, int16_t angle_max);
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// assign and enable auxiliary channels
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@ -502,28 +502,28 @@ public:
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static void enable_by_mask(uint32_t mask);
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// return the current function for a channel
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static SRV_Channel::Aux_servo_function_t channel_function(uint8_t channel);
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static SRV_Channel::Function channel_function(uint8_t channel);
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// refresh aux servo to function mapping
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static void update_aux_servo_function(void);
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// set default channel for an auxiliary function
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static bool set_aux_channel_default(SRV_Channel::Aux_servo_function_t function, uint8_t channel);
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static bool set_aux_channel_default(SRV_Channel::Function function, uint8_t channel);
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// find first channel that a function is assigned to
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static bool find_channel(SRV_Channel::Aux_servo_function_t function, uint8_t &chan);
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static bool find_channel(SRV_Channel::Function function, uint8_t &chan);
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// find first channel that a function is assigned to, returning SRV_Channel object
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static SRV_Channel *get_channel_for(SRV_Channel::Aux_servo_function_t function);
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static SRV_Channel *get_channel_for(SRV_Channel::Function function);
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// call set_angle() on matching channels
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static void set_angle(SRV_Channel::Aux_servo_function_t function, uint16_t angle);
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static void set_angle(SRV_Channel::Function function, uint16_t angle);
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// call set_range() on matching channels
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static void set_range(SRV_Channel::Aux_servo_function_t function, uint16_t range);
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static void set_range(SRV_Channel::Function function, uint16_t range);
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// set output refresh frequency on a servo function
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static void set_rc_frequency(SRV_Channel::Aux_servo_function_t function, uint16_t frequency);
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static void set_rc_frequency(SRV_Channel::Function function, uint16_t frequency);
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// control pass-thru of channels
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void disable_passthrough(bool disable) {
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@ -531,7 +531,7 @@ public:
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}
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// constrain to output min/max for function
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static void constrain_pwm(SRV_Channel::Aux_servo_function_t function);
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static void constrain_pwm(SRV_Channel::Function function);
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// calculate PWM for all channels
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static void calc_pwm(void);
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@ -555,14 +555,14 @@ public:
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static void upgrade_parameters(void);
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// given a zero-based motor channel, return the k_motor function for that channel
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static SRV_Channel::Aux_servo_function_t get_motor_function(uint8_t channel) {
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static SRV_Channel::Function get_motor_function(uint8_t channel) {
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if (channel < 8) {
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return SRV_Channel::Aux_servo_function_t(SRV_Channel::k_motor1+channel);
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return SRV_Channel::Function(SRV_Channel::k_motor1+channel);
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}
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if (channel < 12) {
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return SRV_Channel::Aux_servo_function_t((SRV_Channel::k_motor9+(channel-8)));
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return SRV_Channel::Function((SRV_Channel::k_motor9+(channel-8)));
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}
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return SRV_Channel::Aux_servo_function_t((SRV_Channel::k_motor13+(channel-12)));
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return SRV_Channel::Function((SRV_Channel::k_motor13+(channel-12)));
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}
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|
||||
void cork();
|
||||
@ -701,8 +701,8 @@ private:
|
||||
|
||||
// linked list for slew rate handling
|
||||
struct slew_list {
|
||||
slew_list(SRV_Channel::Aux_servo_function_t _func) : func(_func) {};
|
||||
const SRV_Channel::Aux_servo_function_t func;
|
||||
slew_list(SRV_Channel::Function _func) : func(_func) {};
|
||||
const SRV_Channel::Function func;
|
||||
float last_scaled_output;
|
||||
float max_change;
|
||||
slew_list * next;
|
||||
|
||||
@ -120,7 +120,7 @@ void SRV_Channels::output_ch_all(void)
|
||||
/*
|
||||
return the current function for a channel
|
||||
*/
|
||||
SRV_Channel::Aux_servo_function_t SRV_Channels::channel_function(uint8_t channel)
|
||||
SRV_Channel::Function SRV_Channels::channel_function(uint8_t channel)
|
||||
{
|
||||
if (channel < NUM_SERVO_CHANNELS) {
|
||||
return channels[channel].function;
|
||||
@ -336,7 +336,7 @@ void SRV_Channels::enable_by_mask(uint32_t mask)
|
||||
/*
|
||||
set radio_out for all channels matching the given function type
|
||||
*/
|
||||
void SRV_Channels::set_output_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t value)
|
||||
void SRV_Channels::set_output_pwm(SRV_Channel::Function function, uint16_t value)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -355,7 +355,7 @@ void SRV_Channels::set_output_pwm(SRV_Channel::Aux_servo_function_t function, ui
|
||||
reverses pwm output based on channel reversed property
|
||||
*/
|
||||
void
|
||||
SRV_Channels::set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function, int16_t value)
|
||||
SRV_Channels::set_output_pwm_trimmed(SRV_Channel::Function function, int16_t value)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -379,7 +379,7 @@ SRV_Channels::set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function,
|
||||
the given function type
|
||||
*/
|
||||
void
|
||||
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::Aux_servo_function_t function)
|
||||
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::Function function)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -396,7 +396,7 @@ SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::Aux_servo_function_t functi
|
||||
copy radio_in to radio_out for a given function
|
||||
*/
|
||||
void
|
||||
SRV_Channels::copy_radio_in_out(SRV_Channel::Aux_servo_function_t function, bool do_input_output)
|
||||
SRV_Channels::copy_radio_in_out(SRV_Channel::Function function, bool do_input_output)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -438,7 +438,7 @@ SRV_Channels::copy_radio_in_out_mask(uint32_t mask)
|
||||
setup failsafe value for an auxiliary function type to a Limit
|
||||
*/
|
||||
void
|
||||
SRV_Channels::set_failsafe_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t pwm)
|
||||
SRV_Channels::set_failsafe_pwm(SRV_Channel::Function function, uint16_t pwm)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -455,7 +455,7 @@ SRV_Channels::set_failsafe_pwm(SRV_Channel::Aux_servo_function_t function, uint1
|
||||
setup failsafe value for an auxiliary function type to a Limit
|
||||
*/
|
||||
void
|
||||
SRV_Channels::set_failsafe_limit(SRV_Channel::Aux_servo_function_t function, SRV_Channel::Limit limit)
|
||||
SRV_Channels::set_failsafe_limit(SRV_Channel::Function function, SRV_Channel::Limit limit)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -473,7 +473,7 @@ SRV_Channels::set_failsafe_limit(SRV_Channel::Aux_servo_function_t function, SRV
|
||||
set radio output value for an auxiliary function type to a Limit
|
||||
*/
|
||||
void
|
||||
SRV_Channels::set_output_limit(SRV_Channel::Aux_servo_function_t function, SRV_Channel::Limit limit)
|
||||
SRV_Channels::set_output_limit(SRV_Channel::Function function, SRV_Channel::Limit limit)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -501,7 +501,7 @@ SRV_Channels::set_output_limit(SRV_Channel::Aux_servo_function_t function, SRV_C
|
||||
return true if a particular function is assigned to at least one RC channel
|
||||
*/
|
||||
bool
|
||||
SRV_Channels::function_assigned(SRV_Channel::Aux_servo_function_t function)
|
||||
SRV_Channels::function_assigned(SRV_Channel::Function function)
|
||||
{
|
||||
if (!initialised) {
|
||||
update_aux_servo_function();
|
||||
@ -514,7 +514,7 @@ SRV_Channels::function_assigned(SRV_Channel::Aux_servo_function_t function)
|
||||
value. This is used to move a AP_Mount servo
|
||||
*/
|
||||
void
|
||||
SRV_Channels::move_servo(SRV_Channel::Aux_servo_function_t function,
|
||||
SRV_Channels::move_servo(SRV_Channel::Function function,
|
||||
int16_t value, int16_t angle_min, int16_t angle_max)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
@ -538,7 +538,7 @@ SRV_Channels::move_servo(SRV_Channel::Aux_servo_function_t function,
|
||||
/*
|
||||
set the default channel an auxiliary output function should be on
|
||||
*/
|
||||
bool SRV_Channels::set_aux_channel_default(SRV_Channel::Aux_servo_function_t function, uint8_t channel)
|
||||
bool SRV_Channels::set_aux_channel_default(SRV_Channel::Function function, uint8_t channel)
|
||||
{
|
||||
if (function_assigned(function)) {
|
||||
// already assigned
|
||||
@ -565,7 +565,7 @@ bool SRV_Channels::set_aux_channel_default(SRV_Channel::Aux_servo_function_t fun
|
||||
}
|
||||
|
||||
// find first channel that a function is assigned to
|
||||
bool SRV_Channels::find_channel(SRV_Channel::Aux_servo_function_t function, uint8_t &chan)
|
||||
bool SRV_Channels::find_channel(SRV_Channel::Function function, uint8_t &chan)
|
||||
{
|
||||
// Must have populated channel masks
|
||||
if (!initialised) {
|
||||
@ -591,7 +591,7 @@ bool SRV_Channels::find_channel(SRV_Channel::Aux_servo_function_t function, uint
|
||||
/*
|
||||
get a pointer to first auxiliary channel for a channel function
|
||||
*/
|
||||
SRV_Channel *SRV_Channels::get_channel_for(SRV_Channel::Aux_servo_function_t function)
|
||||
SRV_Channel *SRV_Channels::get_channel_for(SRV_Channel::Function function)
|
||||
{
|
||||
uint8_t chan;
|
||||
if (!find_channel(function, chan)) {
|
||||
@ -600,7 +600,7 @@ SRV_Channel *SRV_Channels::get_channel_for(SRV_Channel::Aux_servo_function_t fun
|
||||
return &channels[chan];
|
||||
}
|
||||
|
||||
void SRV_Channels::set_output_scaled(SRV_Channel::Aux_servo_function_t function, float value)
|
||||
void SRV_Channels::set_output_scaled(SRV_Channel::Function function, float value)
|
||||
{
|
||||
if (SRV_Channel::valid_function(function)) {
|
||||
functions[function].output_scaled = value;
|
||||
@ -608,7 +608,7 @@ void SRV_Channels::set_output_scaled(SRV_Channel::Aux_servo_function_t function,
|
||||
}
|
||||
}
|
||||
|
||||
float SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t function)
|
||||
float SRV_Channels::get_output_scaled(SRV_Channel::Function function)
|
||||
{
|
||||
if (SRV_Channel::valid_function(function)) {
|
||||
return functions[function].output_scaled;
|
||||
@ -617,7 +617,7 @@ float SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t function
|
||||
}
|
||||
|
||||
// get slew limited scaled output for the given function type
|
||||
float SRV_Channels::get_slew_limited_output_scaled(SRV_Channel::Aux_servo_function_t function)
|
||||
float SRV_Channels::get_slew_limited_output_scaled(SRV_Channel::Function function)
|
||||
{
|
||||
if (!SRV_Channel::valid_function(function)) {
|
||||
return 0.0;
|
||||
@ -638,7 +638,7 @@ float SRV_Channels::get_slew_limited_output_scaled(SRV_Channel::Aux_servo_functi
|
||||
/*
|
||||
get mask of output channels for a function
|
||||
*/
|
||||
uint32_t SRV_Channels::get_output_channel_mask(SRV_Channel::Aux_servo_function_t function)
|
||||
uint32_t SRV_Channels::get_output_channel_mask(SRV_Channel::Function function)
|
||||
{
|
||||
if (!initialised) {
|
||||
update_aux_servo_function();
|
||||
@ -651,7 +651,7 @@ uint32_t SRV_Channels::get_output_channel_mask(SRV_Channel::Aux_servo_function_t
|
||||
|
||||
|
||||
// set the trim for a function channel to given pwm
|
||||
void SRV_Channels::set_trim_to_pwm_for(SRV_Channel::Aux_servo_function_t function, int16_t pwm)
|
||||
void SRV_Channels::set_trim_to_pwm_for(SRV_Channel::Function function, int16_t pwm)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -661,7 +661,7 @@ void SRV_Channels::set_trim_to_pwm_for(SRV_Channel::Aux_servo_function_t functio
|
||||
}
|
||||
|
||||
// set the trim for a function channel to min output of the channel honnoring reverse unless ignore_reversed is true
|
||||
void SRV_Channels::set_trim_to_min_for(SRV_Channel::Aux_servo_function_t function, bool ignore_reversed)
|
||||
void SRV_Channels::set_trim_to_min_for(SRV_Channel::Function function, bool ignore_reversed)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -673,10 +673,10 @@ void SRV_Channels::set_trim_to_min_for(SRV_Channel::Aux_servo_function_t functio
|
||||
/*
|
||||
set the default function for a channel
|
||||
*/
|
||||
void SRV_Channels::set_default_function(uint8_t chan, SRV_Channel::Aux_servo_function_t function)
|
||||
void SRV_Channels::set_default_function(uint8_t chan, SRV_Channel::Function function)
|
||||
{
|
||||
if (chan < NUM_SERVO_CHANNELS) {
|
||||
const SRV_Channel::Aux_servo_function_t old = channels[chan].function;
|
||||
const SRV_Channel::Function old = channels[chan].function;
|
||||
channels[chan].function.set_default(function);
|
||||
if (old != channels[chan].function && channels[chan].function == function) {
|
||||
function_mask.set((uint16_t)function);
|
||||
@ -684,7 +684,7 @@ void SRV_Channels::set_default_function(uint8_t chan, SRV_Channel::Aux_servo_fun
|
||||
}
|
||||
}
|
||||
|
||||
void SRV_Channels::set_esc_scaling_for(SRV_Channel::Aux_servo_function_t function)
|
||||
void SRV_Channels::set_esc_scaling_for(SRV_Channel::Function function)
|
||||
{
|
||||
uint8_t chan;
|
||||
if (find_channel(function, chan)) {
|
||||
@ -696,7 +696,7 @@ void SRV_Channels::set_esc_scaling_for(SRV_Channel::Aux_servo_function_t functio
|
||||
auto-adjust channel trim from an integrator value. Positive v means
|
||||
adjust trim up. Negative means decrease
|
||||
*/
|
||||
void SRV_Channels::adjust_trim(SRV_Channel::Aux_servo_function_t function, float v)
|
||||
void SRV_Channels::adjust_trim(SRV_Channel::Function function, float v)
|
||||
{
|
||||
if (is_zero(v)) {
|
||||
return;
|
||||
@ -726,7 +726,7 @@ void SRV_Channels::adjust_trim(SRV_Channel::Aux_servo_function_t function, float
|
||||
}
|
||||
|
||||
// get pwm output for the first channel of the given function type.
|
||||
bool SRV_Channels::get_output_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t &value)
|
||||
bool SRV_Channels::get_output_pwm(SRV_Channel::Function function, uint16_t &value)
|
||||
{
|
||||
uint8_t chan;
|
||||
if (!find_channel(function, chan)) {
|
||||
@ -741,7 +741,7 @@ bool SRV_Channels::get_output_pwm(SRV_Channel::Aux_servo_function_t function, ui
|
||||
}
|
||||
|
||||
// set output pwm to trim for the given function
|
||||
void SRV_Channels::set_output_to_trim(SRV_Channel::Aux_servo_function_t function)
|
||||
void SRV_Channels::set_output_to_trim(SRV_Channel::Function function)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -754,7 +754,7 @@ void SRV_Channels::set_output_to_trim(SRV_Channel::Aux_servo_function_t function
|
||||
get the normalised output for a channel function from the pwm value
|
||||
of the first matching channel
|
||||
*/
|
||||
float SRV_Channels::get_output_norm(SRV_Channel::Aux_servo_function_t function)
|
||||
float SRV_Channels::get_output_norm(SRV_Channel::Function function)
|
||||
{
|
||||
uint8_t chan;
|
||||
if (!find_channel(function, chan)) {
|
||||
@ -767,7 +767,7 @@ float SRV_Channels::get_output_norm(SRV_Channel::Aux_servo_function_t function)
|
||||
}
|
||||
|
||||
// set normalised output (-1 to 1 with 0 at mid point of servo_min/servo_max) for the given function
|
||||
void SRV_Channels::set_output_norm(SRV_Channel::Aux_servo_function_t function, float value)
|
||||
void SRV_Channels::set_output_norm(SRV_Channel::Function function, float value)
|
||||
{
|
||||
if (!function_assigned(function)) {
|
||||
return;
|
||||
@ -784,7 +784,7 @@ void SRV_Channels::set_output_norm(SRV_Channel::Aux_servo_function_t function, f
|
||||
limit slew rate for an output function to given rate in percent per
|
||||
second. This assumes output has not yet done to the hal
|
||||
*/
|
||||
void SRV_Channels::set_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, uint16_t range, float dt)
|
||||
void SRV_Channels::set_slew_rate(SRV_Channel::Function function, float slew_rate, uint16_t range, float dt)
|
||||
{
|
||||
if (!SRV_Channel::valid_function(function)) {
|
||||
return;
|
||||
@ -816,7 +816,7 @@ void SRV_Channels::set_slew_rate(SRV_Channel::Aux_servo_function_t function, flo
|
||||
}
|
||||
|
||||
// call set_angle() on matching channels
|
||||
void SRV_Channels::set_angle(SRV_Channel::Aux_servo_function_t function, uint16_t angle)
|
||||
void SRV_Channels::set_angle(SRV_Channel::Function function, uint16_t angle)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -826,7 +826,7 @@ void SRV_Channels::set_angle(SRV_Channel::Aux_servo_function_t function, uint16_
|
||||
}
|
||||
|
||||
// call set_range() on matching channels
|
||||
void SRV_Channels::set_range(SRV_Channel::Aux_servo_function_t function, uint16_t range)
|
||||
void SRV_Channels::set_range(SRV_Channel::Function function, uint16_t range)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -836,7 +836,7 @@ void SRV_Channels::set_range(SRV_Channel::Aux_servo_function_t function, uint16_
|
||||
}
|
||||
|
||||
// set MIN parameter for a function
|
||||
void SRV_Channels::set_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm)
|
||||
void SRV_Channels::set_output_min_max(SRV_Channel::Function function, uint16_t min_pwm, uint16_t max_pwm)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -847,7 +847,7 @@ void SRV_Channels::set_output_min_max(SRV_Channel::Aux_servo_function_t function
|
||||
}
|
||||
|
||||
// set MIN/MAX parameter defaults for a function
|
||||
void SRV_Channels::set_output_min_max_defaults(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm)
|
||||
void SRV_Channels::set_output_min_max_defaults(SRV_Channel::Function function, uint16_t min_pwm, uint16_t max_pwm)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -858,7 +858,7 @@ void SRV_Channels::set_output_min_max_defaults(SRV_Channel::Aux_servo_function_t
|
||||
}
|
||||
|
||||
// Save MIN/MAX/REVERSED parameters for a function
|
||||
void SRV_Channels::save_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm)
|
||||
void SRV_Channels::save_output_min_max(SRV_Channel::Function function, uint16_t min_pwm, uint16_t max_pwm)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
if (channels[i].function == function) {
|
||||
@ -872,7 +872,7 @@ void SRV_Channels::save_output_min_max(SRV_Channel::Aux_servo_function_t functio
|
||||
}
|
||||
|
||||
// constrain to output min/max for function
|
||||
void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function)
|
||||
void SRV_Channels::constrain_pwm(SRV_Channel::Function function)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
SRV_Channel &c = channels[i];
|
||||
@ -898,7 +898,7 @@ void SRV_Channels::upgrade_parameters(void)
|
||||
}
|
||||
|
||||
// set RC output frequency on a function output
|
||||
void SRV_Channels::set_rc_frequency(SRV_Channel::Aux_servo_function_t function, uint16_t frequency_hz)
|
||||
void SRV_Channels::set_rc_frequency(SRV_Channel::Function function, uint16_t frequency_hz)
|
||||
{
|
||||
uint32_t mask = 0;
|
||||
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user