mirror of https://github.com/ArduPilot/ardupilot
57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <APM_RC.h>
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#include "RC_Channel_aux.h"
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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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// map a function to a servo channel and output it
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void
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RC_Channel_aux::output_ch(unsigned char ch_nr)
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{
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// take care or two corner cases
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switch(function)
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{
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case k_none: // disabled
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return;
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break;
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case k_manual: // manual
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radio_out = radio_in;
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break;
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}
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APM_RC.OutputCh(ch_nr, radio_out);
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}
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// Update the g_rc_function array of pointers to rc_x channels
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// This is to be done before rc_init so that the channels get correctly initialized.
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// It also should be called periodically because the user might change the configuration and
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// expects the changes to take effect instantly
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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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{
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// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
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RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
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aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
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aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
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aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
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aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
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// Assume that no auxiliary function is used
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for (int i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
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{
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g_rc_function[i] = NULL;
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}
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// assign the RC channel to each function
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g_rc_function[aux_servo_function[CH_5]] = rc_5;
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g_rc_function[aux_servo_function[CH_6]] = rc_6;
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g_rc_function[aux_servo_function[CH_7]] = rc_7;
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g_rc_function[aux_servo_function[CH_8]] = rc_8;
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//set auxiliary ranges
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G_RC_AUX(k_flap)->set_range(0,100);
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G_RC_AUX(k_flap_auto)->set_range(0,100);
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G_RC_AUX(k_aileron)->set_angle(4500);
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G_RC_AUX(k_flaperon)->set_range(0,100);
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}
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