e5813effff
RC_Channel: improved efficiency of min_max_configured
...
this is quite a costly function due to scan in AP_Param. It takes
about 4 to 5 milliseconds when done as part of AP_Arming
2018-01-10 16:42:51 +09:00
0155434057
RC_Channel: fixed bug in manual with TRIM == MIN
...
This fixes the bug described here:
https://discuss.ardupilot.org/t/arduplane-reverse-thrust-setup/18324/5
which otherwise would prevent output with TRIM == MIN or TRIM == MAX
2017-08-26 20:30:54 +10:00
ed07d5b5c9
RC_Channel: Improve the PWM parameters descriptions
2017-06-06 11:06:26 +10:00
8661bdda8a
RC_Channel: Use SI units conventions in parameter units
...
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
2017-05-17 18:07:25 +10:00
d6d94bd26c
RC_Channel: improved doc string
2017-02-07 16:32:57 +11:00
11afd0c7d4
RC_Channel: split RC_Channels.cpp out to separate cpp file
...
this is needed for automatic parameter documentation generation
2017-02-06 15:12:32 +11:00
0791186cd2
RC_Channel: split SRV_Channel into separate directory
2017-01-12 17:39:37 +11:00
64aa13e7f4
RC_Channel: 2nd stage of SRV_Channels conversion
...
allow for 16 output channel objects
2017-01-12 17:39:37 +11:00
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
2016-11-02 16:04:47 -02:00
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
2016-10-24 09:42:01 -02:00
73b9123495
RC_Channel: added set_trim() API to SRV_Channels object
2016-10-15 16:59:35 +11:00
fea7903aa8
RC_Channel: added get_radio_out_normalised()
2016-10-15 16:59:35 +11:00
96c7d9dde8
RC_Channel: make output_trim() go via _radio_out
...
this ensures that _radio_out always contains the value that would be
output to the channel. This will be used by the SRV_Channels object
2016-10-15 16:59:35 +11:00
934d2b6ae4
RC_Channel: added setup_failsafe_trim_mask()
2016-06-30 16:46:57 +10:00
d9ab3baf84
RC_Channel: Refactor to make data members private
...
rename all public data members of RC_Channnels with
leading underscore and make all data members private.
Provide get_xx and set_xx methods for access
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)
add function to save radio trim
(expression where c is an object of type RC_Channel)
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);
// other
c.min_max_configured() // return true if min and max are configured
c.save_radio_trim() // save radio trim to eeprom
2016-05-10 16:21:15 +10:00
134ea338da
RC_Channel: remove unused control_mix method
2016-05-05 18:58:17 -03:00
5bd034a5a8
Global: start using cmath instead of math.h
2016-04-05 21:06:19 -07:00
4deb01b8d5
RC_Channel: set AP_PARAM_NO_SHIFT
2016-03-18 12:33:34 +11:00
a07a8aece1
RC_Channel: added pwm_to_angle_dz_trim()
2016-01-06 22:47:21 +11:00
48b774bc63
RC_Channel: allow more complete separation of input and output of channels
...
this allows for the type and range of channels to be different on
input and output
2016-01-04 11:23:30 +09:00
2591261af6
Global: rename min and max macros to uppercase
...
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
2015-12-01 16:28:09 -02:00
52f2fce1d5
RC_Channel: prevent float exception with bad RCn_MIN/MAX/TRIM
...
thanks to Michael for finding this
2015-11-30 21:53:54 +11:00
ea5cd99651
RC_Channel: use is_bounded_int32()
2015-11-11 13:45:09 +11:00
7edf8c0e0a
RC_Channel: New method to detect if channel is in trim location
...
This is a new method which will return true if an RC_Channel has a PWM
value that is at its TRIM value plus or minus the allowed dead zone
around the TRIM.
2015-11-11 13:39:38 +11:00
2847af905e
RC_Channel: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:13 +11:00
831d8acca5
Remove use of PROGMEM
...
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
21e7d46944
RC_Channel: use set_default for runtime param defaults
2015-10-26 11:15:54 +11:00
122e88dbed
RC_Channel: remove the unused test function get_failsafe
2015-09-09 10:28:02 +10:00
d2780623f7
RC_Channel: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
2015-08-11 16:38:25 +10:00
c86ff1ac25
RC_Channel: prevent floating exception on bad MIN/MAX/TRIM values
2015-07-27 12:04:03 +10:00
1b13250fd8
RC_Channel: small parameter description change
2015-05-14 10:33:08 +09:00
6959cdbf15
RC_Channel: fixed usage of _reverse to be consistent
...
users could set RCn_REV to 0 and get very confusing results
2015-02-18 12:47:56 +11:00
73f3b50e2f
RC_Channel: make get_control_mid const
2014-11-17 18:16:12 -08:00
9375fc8947
RC_Channel: add get_control_mid function
2014-11-17 18:16:09 -08:00
4d7988b302
RC_Channel: replace long with int32_t
2014-11-17 18:16:08 -08:00
6b0c15b70f
RC_Channel: added norm_input_dz()
...
normalised input, taking into account dead zone
2014-11-18 12:44:05 +11:00
0d4985079e
RC_Channel: added support for LimitValue settings
...
this allows you to set a channel failsafe or radio_out to a limit
value
2014-04-21 11:52:41 +10:00
7f4178d967
RC_Channel: added setup_failsafe_trim_all() function
...
sets all channels to output trim values on FMU failure
2014-04-21 08:37:24 +10:00
11f196318e
RC_Channel: added static functions to simplify operations on all channels
...
this avoids vehicle code having to loop over all channels for common
operations
2014-04-03 12:18:56 +11:00
8c0c9c317e
RC_Channel: prevent a numerical exception with bad mount parameters
2014-03-26 17:38:27 +11:00
68462025ba
RC_Channel: constrain norm_input() to -1 to 1
...
if RC is not properly calibrated we could get a value beyond 1, which
could cause some flight modes to exceed the roll/pitch limits of the
aircraft
2014-03-15 20:43:13 +11:00
a788405c8b
RC_Channel: added percent_input() function
...
useful for plane flaps
2014-03-05 09:17:50 +11:00
f6d888e0da
RC_Channel: added disable_out() method
2013-12-20 11:58:53 +11:00
f8e2947823
RC_Channel: parameter @Units to pwm
2013-11-26 22:34:28 +09:00
97b7130bb9
libraries: update license header to GPLv3
...
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
2013-08-30 13:01:39 +10:00
a12991923e
RC_Channel: prevent overwrite of memory on high RC_Channel constructor
2013-08-18 11:42:23 +10:00
21859f9364
RC_Channel: fixed dead_zone for range channels
...
The dead_zone was being used inconsistently, used in PWM space in one
place, and in control output space in another.
The fix required us to move the index number of the RC channel eeprom
value for RCn_DZ, as users will have a throttle deadzone of 3 set in
their eeprom due to a bug that Randy just fixed that caused the value
to always be saved to eeprom. In plane we then need to fix the
deadzone for the throttle to be 30
this fixes issue #303
Thanks to Soren Kuula for spotting this!
2013-07-13 13:18:54 +10:00
47437b9ddf
RC: set dead zone only if parameter has not been set by user
2013-07-12 11:44:16 +09:00
02252b5387
RC_Channel: removed reference to dip switches
2013-06-03 17:49:56 +10:00
c0058bbb03
RC_Channel: added output_trim() and read() functions
...
these make using rcmap in the plane code easier
2013-06-03 16:23:48 +10:00
0438952a8b
RC_Channel: removed global rc_ch[] array
...
hide it as a object static instead
2013-06-03 16:23:47 +10:00
a093926b04
Revert "RC_Channel: removed pwm_out variable from RC_Channel"
...
This reverts commit 8e4a003d8d
2013-03-29 22:36:29 +11:00
8e4a003d8d
RC_Channel: removed pwm_out variable from RC_Channel
...
saves 16 bytes
2013-03-29 19:32:52 +11:00
5631f865b2
Update floating point calculations to use floats instead of doubles.
...
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
2013-01-16 13:52:01 +11:00
cd430cb6a8
RC_Channel: added no_deadzone version of set_pwm()
2012-12-20 22:41:58 +11:00
ceb3f577d8
libraries: use new math functions
2012-12-20 14:53:22 +11:00
afa1143506
RC_Channel: ported to AP_HAL
...
* keeping everyone honest
* remove second unmaintained unit test: No idea wtf is going on in there.
2012-12-20 14:51:26 +11:00
49619b15dd
RC_Channel: move RC_CHANNEL_ANGLE, RANGE, ANGLE_RAW type definitions to .h file so they can be used by the main sketch
2012-12-09 16:42:58 +09:00
1059ef2a54
Plane: fixed secondary aileron and manual aux servos in failsafe
...
the servo value wasn't being written to APM_RC while in failsafe for
these aux channels
2012-11-26 23:32:57 +11:00
f58abb7550
RC_Channel: added pwm_to_angle_dz() function
...
will be used by k_aileron in APM
2012-11-05 23:37:25 +11:00
d57566ad0e
RC_Channel: removed set_filter() and scale_output
...
these unused options were costing 5 bytes per channel, for a total of
50 bytes on ArduCopter
2012-11-05 20:49:42 +11:00
bd31f340a7
RC_Channel: support channel reversal on range channels
...
this makes it possible to have a reverse throttle in ArduPlane
2012-09-16 15:06:26 +10:00
e9fb7cfd92
uncrustify libraries/RC_Channel/RC_Channel.cpp
2012-08-21 19:04:31 -07:00
518d6365ff
AP_Param: update remaining libraries for new constructor syntax
2012-08-08 12:11:57 +10:00
b8c7b8a786
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
9c1ac2d9e6
More work on ch9, 10 and 11
2012-08-04 19:44:41 +02:00
bbc4bdb729
More flexible RC support
2012-08-04 18:39:20 +02:00
3de23220ed
RC_Channel parameters: Fix a typo
2012-07-18 22:39:49 +02:00
724c5f6490
Use ascending order in the values
2012-07-18 02:11:49 +02:00
1da0ce20ce
Improve parameter documentation, it still does not work, but is an improvement.
...
I just do not understand why these parameters do not appear in Mission planner :(
2012-07-17 23:32:30 +02:00
c3b1a79f6a
RC_Channel library: change all "int" types to "int16_t".
...
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
2012-06-02 14:20:58 +09:00
c2d14a5cad
RC_Channel fix for throttle output.
...
throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
2012-05-31 14:59:03 -07:00
0adb5cb396
Issue 416: RC_Channel – Fix to make dead_zones still output 0
2012-05-31 12:05:47 -07:00
1c690b44de
removed never used filter, and fixed a constrain that could make range calcs go bad
2012-05-31 11:45:07 -07:00
862b374d19
Channel rage fix - low output was always 0 vs _low
2012-05-31 11:31:48 -07:00
1e37a0ec17
added a limit to range output
2012-02-18 21:08:17 -08:00
37cabb4cfa
fixed dead zone load/save
2012-02-13 16:22:53 +11:00
9c5a5473ab
added indexes to group info structures
2012-02-13 16:22:52 +11:00
bf4a77da81
convert libraries to new typesafe macros
2012-02-13 16:22:51 +11:00
12dac42174
modify RC_Channel for AP_Param
2012-02-13 16:22:51 +11:00
0ea6ecf8d1
Removed outdated comment:
...
" // deadzone moved to
//control_in = (abs(control_in) < _dead_zone) ? 0 : control_in;"
2012-02-11 16:51:02 +00:00
8ec192cf45
fix uint > int issue - for hil
2012-02-11 11:35:59 +08:00
ed19c25a97
Arduino 1.0 - changed all #includes of "WProgram.h", "wiring.h" and "WConstants.h to "Arduino.h".
...
Modified FastSerial's write function to return size_t (number of bytes written).
2012-01-28 12:25:47 +09:00
6b949511ca
change rc norm_output to scale evenly across the entire range
2012-01-20 16:24:55 +08:00
c9f7618ccc
purple: rework the RC_Channel library for the APM_RC changes
2011-11-25 20:00:16 -08:00
d18bb1cc7e
prevent div by 0
2011-10-30 21:28:39 +08:00
76bf784f8c
RC_Channel Dead zone
...
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
2011-10-27 11:34:00 -07:00
326cfef808
Dead Zone fix - Now the range is full instead of clipped. Should make the Yaw much more smooth.
2011-09-26 22:12:39 -07:00
ce338071eb
RC_Channel tweaks. using Radio_trim rather than 1500 in Raw output. Cleaned up line in calc PWM to be easier to read.
2011-09-21 14:52:20 -07:00
cd72e6bea9
roughed in an expo option idea
...
made min and max values 1100, 1900
removed hard coded init for camera values
2011-09-16 19:06:53 -07:00
213969202a
Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ?
2011-09-11 19:13:01 +02:00
c5fd792024
Make the switch case complete
2011-09-11 18:32:24 +02:00
9f14c5f578
Fix RC range reversal
2011-09-11 04:12:46 +02:00
d84f80cb0d
Moved enum values around to make code simpler to read and use
2011-09-11 02:34:47 +02:00
f4998c3673
Moved a function from radio.pde to the RC_Channel_aux library. Now its more readable and reusable
2011-09-10 13:26:29 +02:00
b7a0d8836a
This is the real HEAD of the APM_Camera branch. Seams that lots of changes got lost in the SVN to GIT port
2011-09-09 16:18:38 +02:00
e05de48e2d
Adding reverse to Channel Raw output (unscaled output) to fix camera reversing.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3297 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-09-08 04:58:42 +00:00
150f58a4bd
removed scaling on control in because it might cause rounding issues.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2969 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-30 23:48:38 +00:00
b7b0212506
Cleaned up or reverse code.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2842 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-07-13 05:54:40 +00:00
8f82de3e11
changed a bool to uint8_t
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2120 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-06 17:51:26 +00:00
a67b1d6896
Added new output type AMGLE_RAW - this will ouput non-scaled PWM, better for copters than fixed wings.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2093 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-05-05 17:46:11 +00:00
29a486c519
removed unused save_trim() function
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1716 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-23 05:17:24 +00:00
1dd50ec263
Use AP_Var to store channel calibration.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1651 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-02-14 04:43:44 +00:00
3443a7817d
Add reversing for PWM outputs in angle_to_pwm case.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1566 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-01-27 18:16:22 +00:00
7dd1b3cbe7
removed EEPROMB references
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1314 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-28 18:42:03 +00:00
bf3ee6f843
fixed bug
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1304 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-27 23:03:26 +00:00
68eec6805a
update use EEPROM class, new scaled input for RC_Channel
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1264 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-26 01:17:04 +00:00
24bb547eae
Added some functionality to RC_Channel to meet APM needs.
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1223 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-21 03:53:26 +00:00
718bf566c8
rc range bug fixed
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1058 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-12-06 17:22:05 +00:00
4ef6bd673f
added trim save
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@980 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-29 01:44:40 +00:00
44f2139951
added filter option
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@969 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-28 07:03:23 +00:00
59a3087cb6
added control / nav mixing
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@944 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-27 03:04:30 +00:00
dc16a2961d
git-svn-id: https://arducopter.googlecode.com/svn/trunk@926 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-25 07:10:06 +00:00
2dd479ea62
almost ready for use, still testing
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@905 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-23 21:20:29 +00:00
4fa2491adf
This is a new Library for managing RC input channels which will replace the current way of storing RC input in Arrays and most of the Radio.pde tab
...
git-svn-id: https://arducopter.googlecode.com/svn/trunk@902 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-23 19:28:19 +00:00
Andrew Tridgell
Dr.-Ing. Amilcar Do Carmo Lucas
murata
Mathieu OTHACEHE
skyscraper
Ricardo de Almeida Gonzaga
Lucas De Marchi
Grant Morphett
Jonathan Challinger
Gustavo Jose de Sousa
Randy Mackay
Andrew Tridgell
James Bielman
Pat Hickey
uncrustify
Amilcar Lucas
Jason Short
analoguedevices
Michael Oborne
Jason Short
jasonshort
DrZiplok@gmail.com
deweibel@gmail.com
james.goppert
jasonshort@gmail.com