mirror of https://github.com/ArduPilot/ardupilot
62 lines
2.5 KiB
C++
62 lines
2.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file RC_Channel_aux.h
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/// @brief RC_Channel manager for Channels 5..8, with EEPROM-backed storage of constants.
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/// @author Amilcar Lucas
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#ifndef RC_CHANNEL_AUX_H_
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#define RC_CHANNEL_AUX_H_
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#include "RC_Channel.h"
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// Macro to simplify accessing the auxiliary servos
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#define G_RC_AUX(_t) if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t]
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/// @class RC_Channel_aux
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/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
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/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
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class RC_Channel_aux : public RC_Channel{
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public:
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/// Constructor
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///
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/// @param key EEPROM storage key for the channel trim parameters.
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/// @param name Optional name for the group.
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///
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RC_Channel_aux() :
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RC_Channel(),
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function (0),
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angle_min (-4500), // assume -45 degrees min deflection
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angle_max (4500) // assume 45 degrees max deflection
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{}
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typedef enum
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{
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k_none = 0, // disabled
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k_manual = 1, // manual, just pass-thru the RC in signal
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k_flap = 2, // flap
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k_flap_auto = 3, // flap automated
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k_aileron = 4, // aileron
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k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
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k_mount_yaw = 6, // mount yaw (pan)
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k_mount_pitch = 7, // mount pitch (tilt)
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k_mount_roll = 8, // mount roll
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k_mount_open = 9, // mount open (deploy) / close (retract)
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k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
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} Aux_servo_function_t;
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AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
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AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units
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AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
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int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
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void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
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static const struct AP_Param::GroupInfo var_info[];
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};
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void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8);
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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#endif /* RC_CHANNEL_AUX_H_ */
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