wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next
Copter: AutoYaw provides rate from WPNav
includes the following changes
winch_update called at 50hz
removed ability to set winch rate from ch6 tuning
remove wheel encoder
call winch library to log at 10hz
fix winch param prefix
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to get and set functionsss
old public member(int16_t) get function -> int16_t set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in c.get_radio_in() c.set_radio_in(v)
c.control_in c.get_control_in() c.set_control_in(v)
c.servo_out c.get_servo_out() c.set_servo_out(v)
c.pwm_out c.get_pwm_out() // use existing
c.radio_out c.get_radio_out() c.set_radio_out(v)
c.radio_max c.get_radio_max() c.set_radio_max(v)
c.radio_min c.get_radio_min() c.set_radio_min(v)
c.radio_trim c.get_radio_trim() c.set_radio_trim(v);
c.min_max_configured() // return true if min and max are configured
Because data members of RC_Channels are now private and so cannot be written directly
some overloads are provided in the Plane classes to provide the old functionality
new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);
new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;
Rename functions
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
Leonard Hall
Randy Mackay
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas
murata
Andrew Tridgell
Mathieu OTHACEHE
mirkix
skyscraper
Robert Lefebvre
Paul Riseborough