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RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.

This commit is contained in:
Amilcar Lucas 2012-08-05 23:08:31 +02:00
parent f28be02286
commit fe4713b46e
10 changed files with 73 additions and 34 deletions
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11
ArduCopter/ArduCopter.pde
View File

@ -1271,10 +1271,6 @@ static void fifty_hz_loop()
// set-up channel 6 to control pitch
camera_mount.set_manual_rc_channel( &g.rc_6 );
// enable output channels
g.rc_camera_roll.enable_out_ch(CH_CAM_ROLL);
g.rc_camera_pitch.enable_out_ch(CH_CAM_PITCH);
g.rc_camera_yaw.enable_out_ch(CH_CAM_YAW);
}
// update pilot's commands to mount
@ -1288,9 +1284,9 @@ static void fifty_hz_loop()
camera_mount.update_mount_position();
// move camera servos. TO-DO: move this to AP_Mount library
g.rc_camera_roll.output_ch(CH_CAM_ROLL);
g.rc_camera_pitch.output_ch(CH_CAM_PITCH);
g.rc_camera_yaw.output_ch(CH_CAM_PITCH);
g.rc_camera_roll.output();
g.rc_camera_pitch.output();
g.rc_camera_yaw.output();
#endif
#if CAMERA == ENABLED
@ -1354,6 +1350,7 @@ static void slow_loop()
#if MOUNT == ENABLED
update_aux_servo_function(&g.rc_camera_roll, &g.rc_camera_pitch, &g.rc_camera_yaw);
#endif
enable_aux_servos();
#if MOUNT == ENABLED
camera_mount.update_mount_type();

14
ArduCopter/Parameters.h
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@ -399,6 +399,20 @@ public:
ch7_option (CH7_OPTION),
auto_slew_rate (AUTO_SLEW_RATE),
rc_1 (CH_1),
rc_2 (CH_2),
rc_3 (CH_3),
rc_4 (CH_4),
rc_5 (CH_5),
rc_6 (CH_6),
rc_7 (CH_7),
rc_8 (CH_8),
#if MOUNT == ENABLED
rc_camera_roll (CH_9),
rc_camera_pitch (CH_10),
rc_camera_yaw (CH_11),
#endif
rc_speed(RC_FAST_SPEED),
stabilize_d (STABILIZE_D),

10
ArduCopter/radio.pde
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@ -64,14 +64,6 @@ static void init_rc_out()
{
APM_RC.Init( &isr_registry ); // APM Radio initialization
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
APM_RC.enable_out(CH_9);
APM_RC.enable_out(CH_10);
APM_RC.enable_out(CH_11);
APM_RC.OutputCh(CH_9, g.rc_9.radio_trim);
APM_RC.OutputCh(CH_10, g.rc_10.radio_trim);
APM_RC.OutputCh(CH_11, g.rc_11.radio_trim);
#endif
#if INSTANT_PWM == 1
motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
#else
@ -123,6 +115,8 @@ static void init_rc_out()
// send miinimum throttle out to ESC
output_min();
}
enable_aux_servos();
}
void output_min()

1
ArduPlane/ArduPlane.pde
View File

@ -908,6 +908,7 @@ static void slow_loop()
#else
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
#endif
enable_aux_servos();
#if MOUNT == ENABLED
camera_mount.update_mount_type();

14
ArduPlane/Parameters.h
View File

@ -485,6 +485,20 @@ public:
inverted_flight_ch (0),
sonar_enabled (SONAR_ENABLED),
channel_roll (CH_1),
channel_pitch (CH_2),
channel_throttle (CH_3),
channel_rudder (CH_4),
rc_5 (CH_5),
rc_6 (CH_6),
rc_7 (CH_7),
rc_8 (CH_8),
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
rc_9 (CH_9),
rc_10 (CH_10),
rc_11 (CH_11),
#endif
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidNavRoll (NAV_ROLL_P, NAV_ROLL_I, NAV_ROLL_D, NAV_ROLL_INT_MAX_CENTIDEGREE),

11
ArduPlane/radio.pde
View File

@ -54,16 +54,7 @@ static void init_rc_out()
APM_RC.enable_out(CH_2);
APM_RC.enable_out(CH_3);
APM_RC.enable_out(CH_4);
APM_RC.enable_out(CH_5);
APM_RC.enable_out(CH_6);
APM_RC.enable_out(CH_7);
APM_RC.enable_out(CH_8);
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
APM_RC.enable_out(CH_9);
APM_RC.enable_out(CH_10);
APM_RC.enable_out(CH_11);
#endif
enable_aux_servos();
APM_RC.OutputCh(CH_1, g.channel_roll.radio_trim); // Initialization of servo outputs
APM_RC.OutputCh(CH_2, g.channel_pitch.radio_trim);

12
libraries/RC_Channel/RC_Channel.cpp
View File

@ -331,3 +331,15 @@ void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc )
{
_apm_rc = apm_rc;
}
void
RC_Channel::output()
{
_apm_rc->OutputCh(_ch_out, radio_out);
}
void
RC_Channel::enable_out()
{
_apm_rc->enable_out(_ch_out);
}

8
libraries/RC_Channel/RC_Channel.h
View File

@ -18,7 +18,7 @@ class RC_Channel{
/// @param key EEPROM storage key for the channel trim parameters.
/// @param name Optional name for the group.
///
RC_Channel() :
RC_Channel(uint8_t ch_out) :
radio_min (1100),
radio_trim(1500),
radio_max (1900),
@ -26,7 +26,8 @@ class RC_Channel{
_filter(false),
_reverse(1),
_dead_zone(0),
_high(1) {}
_high(1),
_ch_out(ch_out) {}
// setup min and max radio values in CLI
void update_min_max();
@ -90,6 +91,8 @@ class RC_Channel{
float scale_output;
static void set_apm_rc(APM_RC_Class * apm_rc);
void output();
void enable_out();
static APM_RC_Class *_apm_rc;
static const struct AP_Param::GroupInfo var_info[];
@ -103,6 +106,7 @@ class RC_Channel{
int16_t _low;
int16_t _high_out;
int16_t _low_out;
uint8_t _ch_out;
};
// This is ugly, but it fixes compilation on arduino

11
libraries/RC_Channel/RC_Channel_aux.cpp
View File

@ -190,3 +190,14 @@ void update_aux_servo_function( RC_Channel_aux* rc_a,
g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
G_RC_AUX(k_egg_drop)->set_range(0,100);
}
/// Should be called after the the servo functions have been initialized
void
enable_aux_servos()
{
for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
if (g_rc_function[i]) g_rc_function[i]->enable_out();
}
}

5
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -23,8 +23,8 @@ public:
/// @param key EEPROM storage key for the channel trim parameters.
/// @param name Optional name for the group.
///
RC_Channel_aux() :
RC_Channel(),
RC_Channel_aux(uint8_t ch_out) :
RC_Channel(ch_out),
function (0),
angle_min (-4500), // assume -45 degrees min deflection
angle_max (4500) // assume 45 degrees max deflection
@ -67,6 +67,7 @@ public:
};
void update_aux_servo_function(RC_Channel_aux* rc_a = NULL, RC_Channel_aux* rc_b = NULL, RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL, RC_Channel_aux* rc_e = NULL, RC_Channel_aux* rc_f = NULL, RC_Channel_aux* rc_g = NULL);
void enable_aux_servos();
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
#endif /* RC_CHANNEL_AUX_H_ */