ardupilot/libraries/RC_Channel/RC_Channel.h

108 lines
2.3 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file RC_Channel.h
/// @brief RC_Channel manager, with EEPROM-backed storage of constants.
#ifndef RC_Channel_h
#define RC_Channel_h
#include <AP_Common.h>
#include <stdint.h>
/// @class RC_Channel
/// @brief Object managing one RC channel
class RC_Channel{
public:
/// Constructor
///
/// @param key EEPROM storage key for the channel trim parameters.
/// @param name Optional name for the group.
///
RC_Channel(AP_Var::Key key, const prog_char *name) :
_group(key, name),
radio_min (&_group, 0, 1500, name ? PSTR("MIN") : 0), // suppress name if group has no name
radio_trim(&_group, 1, 1500, name ? PSTR("TRIM") : 0),
radio_max (&_group, 2, 1500, name ? PSTR("MAX") : 0),
_high(1),
_filter(true),
_reverse(1),
dead_zone(0),
scale_output(1.0)
{}
// setup min and max radio values in CLI
void update_min_max();
void zero_min_max();
// startup
void load_eeprom(void);
void save_eeprom(void);
void save_trim(void);
void set_filter(bool filter);
// setup the control preferences
void set_range(int low, int high);
void set_angle(int angle);
void set_reverse(bool reverse);
bool get_reverse(void);
// read input from APM_RC - create a control_in value
void set_pwm(int pwm);
// pwm is stored here
int16_t radio_in;
// call after first set_pwm
void trim();
// did our read come in 50µs below the min?
bool get_failsafe(void);
// value generated from PWM
int16_t control_in;
int16_t dead_zone; // used to keep noise down and create a dead zone.
int control_mix(float value);
// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
int16_t servo_out;
// generate PWM from servo_out value
void calc_pwm(void);
// PWM is without the offset from radio_min
int16_t pwm_out;
int16_t radio_out;
AP_Int16 radio_min;
AP_Int16 radio_trim;
AP_Int16 radio_max;
// includes offset from PWM
//int16_t get_radio_out(void);
int16_t pwm_to_angle();
float norm_input();
float norm_output();
int16_t angle_to_pwm();
int16_t pwm_to_range();
int16_t range_to_pwm();
float scale_output;
private:
AP_Var_group _group;
bool _filter;
int8_t _reverse;
bool _type;
int16_t _high;
int16_t _low;
};
#endif