mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
36bcd827b4
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui. Moved some code from RC_Channel_aux to AP_Mount class The servos get written by the update_mount_position() function, this simplifies main() PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
61 lines
2.2 KiB
C++
61 lines
2.2 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 auxiliary 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(uint8_t ch_out) :
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RC_Channel(ch_out),
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function (0)
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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_pan = 6, ///< mount yaw (pan)
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k_mount_tilt = 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_cam_trigger = 10, ///< camera trigger
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k_egg_drop = 11, ///< egg drop
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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; ///< see Aux_servo_function_t enum
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void enable_out_ch(unsigned char ch_nr);
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void output_ch(unsigned char ch_nr);
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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_a = NULL, RC_Channel_aux* rc_b = NULL, RC_Channel_aux* rc_c = NULL, RC_Channel_aux* rc_d = NULL, RC_Channel_aux* rc_e = NULL, RC_Channel_aux* rc_f = NULL, RC_Channel_aux* rc_g = NULL);
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void enable_aux_servos();
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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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