mirror of https://github.com/ArduPilot/ardupilot
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 -*-
|
|
|
|
/// @file RC_Channel_aux.h
|
|
/// @brief RC_Channel manager for auxiliary channels (5..8), with EEPROM-backed storage of constants.
|
|
/// @author Amilcar Lucas
|
|
|
|
#ifndef RC_CHANNEL_AUX_H_
|
|
#define RC_CHANNEL_AUX_H_
|
|
|
|
#include "RC_Channel.h"
|
|
|
|
// Macro to simplify accessing the auxiliary servos
|
|
#define G_RC_AUX(_t) if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t]
|
|
|
|
/// @class RC_Channel_aux
|
|
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
|
|
/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
|
|
class RC_Channel_aux : public RC_Channel{
|
|
public:
|
|
/// Constructor
|
|
///
|
|
/// @param key EEPROM storage key for the channel trim parameters.
|
|
/// @param name Optional name for the group.
|
|
///
|
|
RC_Channel_aux(uint8_t ch_out) :
|
|
RC_Channel(ch_out),
|
|
function (0)
|
|
{}
|
|
|
|
typedef enum
|
|
{
|
|
k_none = 0, ///< disabled
|
|
k_manual = 1, ///< manual, just pass-thru the RC in signal
|
|
k_flap = 2, ///< flap
|
|
k_flap_auto = 3, ///< flap automated
|
|
k_aileron = 4, ///< aileron
|
|
k_flaperon = 5, ///< flaperon (flaps and aileron combined, needs two independent servos one for each wing)
|
|
k_mount_pan = 6, ///< mount yaw (pan)
|
|
k_mount_tilt = 7, ///< mount pitch (tilt)
|
|
k_mount_roll = 8, ///< mount roll
|
|
k_mount_open = 9, ///< mount open (deploy) / close (retract)
|
|
k_cam_trigger = 10, ///< camera trigger
|
|
k_egg_drop = 11, ///< egg drop
|
|
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
|
|
} Aux_servo_function_t;
|
|
|
|
AP_Int8 function; ///< see Aux_servo_function_t enum
|
|
|
|
void enable_out_ch(unsigned char ch_nr);
|
|
|
|
void output_ch(unsigned char ch_nr);
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
};
|
|
|
|
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);
|
|
void enable_aux_servos();
|
|
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
|
|
|
#endif /* RC_CHANNEL_AUX_H_ */
|