mirror of https://github.com/ArduPilot/ardupilot
103 lines
2.5 KiB
C++
103 lines
2.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <DataFlash/DataFlash.h>
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/*
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transmitter tuning library. Meant to be subclassed per vehicle type
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*/
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class AP_Tuning
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{
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public:
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struct tuning_set {
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uint8_t set;
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uint8_t num_parms;
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const uint8_t *parms;
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};
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struct tuning_name {
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uint8_t parm;
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const char *name;
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};
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// constructor
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AP_Tuning(const struct tuning_set *sets, const struct tuning_name *names) :
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tuning_sets(sets),
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tuning_names(names) {
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AP_Param::setup_object_defaults(this, var_info);
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}
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// update function called on new radio frames
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void check_input(uint8_t flightmode);
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// base parameter number for tuning sets of parameters in one flight
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const uint8_t set_base = 100;
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private:
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AP_Int8 channel;
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AP_Int16 channel_min;
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AP_Int16 channel_max;
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AP_Int8 selector;
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AP_Float range;
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// when selector was triggered
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uint32_t selector_start_ms;
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// are we waiting for channel mid-point?
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bool mid_point_wait;
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// last input from tuning channel
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float last_channel_value;
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// mid-value for current parameter
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float center_value;
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uint32_t last_check_ms;
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void Log_Write_Parameter_Tuning(float value);
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// the parameter we are tuning
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uint8_t current_parm;
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// current index into the parameter set
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uint8_t current_parm_index;
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// current parameter set
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uint8_t current_set;
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// true if tune has changed
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bool changed:1;
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// mask of params in set that need reverting
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uint32_t need_revert;
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// last flight mode we were tuning in
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uint8_t last_flightmode;
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const tuning_set *tuning_sets;
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const tuning_name *tuning_names;
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void check_selector_switch(void);
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void re_center(void);
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void next_parameter(void);
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void save_parameters(void);
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void revert_parameters(void);
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const char *get_tuning_name(uint8_t parm);
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protected:
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// virtual functions that must be implemented in vehicle subclass
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virtual AP_Float *get_param_pointer(uint8_t parm) = 0;
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virtual void save_value(uint8_t parm) = 0;
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virtual void reload_value(uint8_t parm) = 0;
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virtual void set_value(uint8_t parm, float value) = 0;
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// parmset is in vehicle subclass var table
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AP_Int16 parmset;
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};
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