mirror of https://github.com/ArduPilot/ardupilot
160 lines
4.8 KiB
C++
160 lines
4.8 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
SRV_Channel.cpp - object to separate input and output channel
|
|
ranges, trim and reversal
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_Vehicle/AP_Vehicle.h>
|
|
#include "SRV_Channel.h"
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
SRV_Channel *SRV_Channels::channels;
|
|
bool SRV_Channels::disabled_passthrough;
|
|
bool SRV_Channels::initialised;
|
|
Bitmask SRV_Channels::function_mask{SRV_Channel::k_nr_aux_servo_functions};
|
|
SRV_Channels::srv_function SRV_Channels::functions[SRV_Channel::k_nr_aux_servo_functions];
|
|
|
|
const AP_Param::GroupInfo SRV_Channels::var_info[] = {
|
|
// @Group: 1_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 2_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 3_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 4_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 5_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 6_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 7_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 8_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 9_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 10_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 11_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 12_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 13_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 14_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 15_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, SRV_Channels, SRV_Channel),
|
|
|
|
// @Group: 16_
|
|
// @Path: SRV_Channel.cpp
|
|
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, SRV_Channels, SRV_Channel),
|
|
|
|
// @Param: _AUTO_TRIM
|
|
// @DisplayName: Automatic servo trim
|
|
// @Description: This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights.
|
|
// @Values: 0:Disable,1:Enable
|
|
// @User: Advanced
|
|
AP_GROUPINFO_FRAME("_AUTO_TRIM", 17, SRV_Channels, auto_trim, 0, AP_PARAM_FRAME_PLANE),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
/*
|
|
constructor
|
|
*/
|
|
SRV_Channels::SRV_Channels(void)
|
|
{
|
|
channels = obj_channels;
|
|
|
|
// set defaults from the parameter table
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
|
|
// setup ch_num on channels
|
|
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
|
channels[i].ch_num = i;
|
|
}
|
|
}
|
|
|
|
/*
|
|
save adjusted trims
|
|
*/
|
|
void SRV_Channels::save_trim(void)
|
|
{
|
|
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
|
if (trimmed_mask & (1U<<i)) {
|
|
channels[i].servo_trim.set_and_save(channels[i].servo_trim.get());
|
|
}
|
|
}
|
|
trimmed_mask = 0;
|
|
}
|
|
|
|
void SRV_Channels::output_trim_all(void)
|
|
{
|
|
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
|
channels[i].set_output_pwm(channels[i].servo_trim);
|
|
}
|
|
}
|
|
|
|
void SRV_Channels::setup_failsafe_trim_all(void)
|
|
{
|
|
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
|
|
hal.rcout->set_failsafe_pwm(1U<<channels[i].ch_num, channels[i].servo_trim);
|
|
}
|
|
}
|
|
|
|
/*
|
|
run calc_pwm for all channels
|
|
*/
|
|
void SRV_Channels::calc_pwm(void)
|
|
{
|
|
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
|
|
channels[i].calc_pwm(functions[channels[i].function].output_scaled);
|
|
}
|
|
}
|