Commit Graph

237 Commits

Author SHA1 Message Date
Ricardo de Almeida Gonzaga 099fc69032 RC_Channel: Fix typos 2016-05-13 19:20:05 -03:00
Andrew Tridgell a41ffc176c RC_Channel: added motor tilt auxillary channel 2016-05-11 05:55:23 +10:00
skyscraper c0c8f1a5cc RC_Channel: RC_Channel refactor
Fix up RC_Channel examples.

Change direct access to data members
to access via member functions
2016-05-10 16:21:17 +10:00
skyscraper d16659331f RC_Channel_aux: Rename static member functions
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, some methods names are now
in conflict with those in the derived RC_Channel_aux class.
To keep a uniform naming convention in RC_Channel where
functions are most used and most numerous, the offending
functions in RC_Channel__aux are renamed as follows

 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)
2016-05-10 16:21:15 +10:00
skyscraper 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
Andrew Tridgell 50908edc91 RC_Channel: added parameter docs for missing RCn_FUNCTION values 2016-05-09 17:33:21 +10:00
Andrew Tridgell ab0b76764f RC_Channel: added set_servo_failsafe_pwm() 2016-05-07 07:25:27 +10:00
skyscraper 134ea338da RC_Channel: remove unused control_mix method 2016-05-05 18:58:17 -03:00
Andrew Tridgell 54f7aeed83 RC_Channel: extend channel mapping to 16 channels
this gives more flexibility, no reason to limit it to 8
2016-04-23 21:03:46 +10:00
Andrew Tridgell ed2f26d7b8 RC_Channel: allow for pass-thru from low channels to any channel
this makes it easier to setup things like ignition cut or bottle drop
with a 8 channel radio
2016-04-10 20:33:12 +10:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell 1ecfa6b487 RC_Channel: fixed example in SITL 2016-03-25 21:35:33 +11:00
Andrew Tridgell 4deb01b8d5 RC_Channel: set AP_PARAM_NO_SHIFT 2016-03-18 12:33:34 +11:00
Lucas De Marchi 08cc7b2472 RC_Channel: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_
It helps to distinguish between things from waf and things from ardupilotwaf.
2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa d281067bcc waf: make example binaries be placed in 'examples' dir
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
2016-01-15 16:46:41 -02:00
Andrew Tridgell a07a8aece1 RC_Channel: added pwm_to_angle_dz_trim() 2016-01-06 22:47:21 +11:00
Andrew Tridgell 9941c91d36 RC_Channel: prevent a warning message for assigned RC channels 2016-01-06 19:16:12 +11:00
Andrew Tridgell b6155d2cb6 RC_Channel: fixed output for k_motor* 2016-01-05 06:41:51 +11:00
Andrew Tridgell 238e912000 RC_Channel: allow find_channel() to be called early
and fix a bug!
2016-01-05 06:40:48 +11:00
Andrew Tridgell 9123ef9f38 RC_Channel: added find_channel() and channel numbers 2016-01-04 17:06:57 +11:00
Andrew Tridgell 6a58264c6b RC_Channel: added set_aux_channel_default() API
this will allow for a default channel for aux functions. Also adds
heli_rsc and heli_tail_rsc functions
2016-01-04 16:14:09 +11:00
Andrew Tridgell 7cc53b6449 RC_Channel: setup only in or out part of channels for aux channels
this allows separate use of input and output
2016-01-04 11:23:36 +09:00
Andrew Tridgell 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
Jonathan Challinger 027e622a3c RC_Channel: fix example build 2015-12-29 10:46:35 -08:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem
AP_Progmem is not used anymore.
2015-12-27 15:58:12 -02:00
Andrew Tridgell e1c890eb58 RC_Channel: added RC_UART example
useful for UART -> ESCs
2015-12-27 16:12:27 +11:00
Lucas De Marchi e8e48fd8e0 RC_Channel: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:44 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi 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
Andrew Tridgell 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
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files
these were APM2 specific
2015-11-16 08:05:17 +11:00
Robert Lefebvre 58e918341d RC_Channel: Add motor_run_enable aux function 2015-11-12 19:37:27 +09:00
Andrew Tridgell ea5cd99651 RC_Channel: use is_bounded_int32() 2015-11-11 13:45:09 +11:00
Grant Morphett 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
Lucas De Marchi 2a91d2169e RC_Channel: remove check for AVR CPUs
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:14 +11:00
Lucas De Marchi 2847af905e RC_Channel: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Lucas De Marchi 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
Jonathan Challinger 21e7d46944 RC_Channel: use set_default for runtime param defaults 2015-10-26 11:15:54 +11:00
Caio Marcelo de Oliveira Filho e36728d1db RC_Channel: make example compile again
By adding a missing library dependency. Also remove unnecessary
includes, in particular including each board HAL file is not needed
anymore.
2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
Grant Morphett 122e88dbed RC_Channel: remove the unused test function get_failsafe 2015-09-09 10:28:02 +10:00
Andrew Tridgell 1162503199 RC_Channel: fixed example build 2015-08-11 17:00:13 +10:00
Gustavo Jose de Sousa 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
Andrew Tridgell c86ff1ac25 RC_Channel: prevent floating exception on bad MIN/MAX/TRIM values 2015-07-27 12:04:03 +10:00
Randy Mackay 03a336d496 RC_Channel: update_aux_servo_function made public 2015-06-10 16:47:06 +09:00
Andrew Tridgell e234844905 RC_Channel: fixed example sketch 2015-06-01 18:05:50 +10:00
Andrew Tridgell 6c1c2dd8bd RC_Channel: convert example from .pde to .cpp 2015-06-01 17:07:08 +10:00