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https://github.com/ArduPilot/ardupilot
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d16659331f
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, some methods names are now
in conflict with those in the derived RC_Channel_aux class.
To keep a uniform naming convention in RC_Channel where
functions are most used and most numerous, the offending
functions in RC_Channel__aux are renamed as follows
RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)
RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)
Rationale:
RC_Channel is a complicated class, which combines
several functionalities dealing with stick inputs
in pwm and logical units, logical and actual actuator
outputs, unit conversion etc, etc
The intent of this PR is to clarify existing use of
the class. At the basic level it should now be possible
to grep all places where private variable is set by
searching for the set_xx function.
(The wider purpose is to provide a more generic and
logically simpler method of output mixing. This is a small step)
171 lines
7.4 KiB
C++
171 lines
7.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "RC_Channel.h"
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#define RC_AUX_MAX_CHANNELS 12
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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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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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{
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for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
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if (_aux_channels[i] == NULL) {
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_aux_channels[i] = this;
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break;
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}
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}
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AP_Param::setup_object_defaults(this, var_info);
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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_unused1 = 5, ///< unused function
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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_mount2_pan = 12, ///< mount2 yaw (pan)
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k_mount2_tilt = 13, ///< mount2 pitch (tilt)
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k_mount2_roll = 14, ///< mount2 roll
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k_mount2_open = 15, ///< mount2 open (deploy) / close (retract)
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k_dspoiler1 = 16, ///< differential spoiler 1 (left wing)
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k_dspoiler2 = 17, ///< differential spoiler 2 (right wing)
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k_aileron_with_input = 18, ///< aileron, with rc input
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k_elevator = 19, ///< elevator
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k_elevator_with_input = 20, ///< elevator, with rc input
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k_rudder = 21, ///< secondary rudder channel
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k_sprayer_pump = 22, ///< crop sprayer pump channel
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k_sprayer_spinner = 23, ///< crop sprayer spinner channel
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k_flaperon1 = 24, ///< flaperon, left wing
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k_flaperon2 = 25, ///< flaperon, right wing
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k_steering = 26, ///< ground steering, used to separate from rudder
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k_parachute_release = 27, ///< parachute release
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k_epm = 28, ///< epm gripper
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k_landing_gear_control = 29, ///< landing gear controller
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k_engine_run_enable = 30, ///< engine kill switch, used for gas airplanes and helicopters
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k_heli_rsc = 31, ///< helicopter RSC output
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k_heli_tail_rsc = 32, ///< helicopter tail RSC output
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k_motor1 = 33, ///< these allow remapping of copter motors
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k_motor2 = 34,
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k_motor3 = 35,
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k_motor4 = 36,
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k_motor5 = 37,
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k_motor6 = 38,
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k_motor7 = 39,
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k_motor8 = 40,
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k_rcin1 = 51, ///< these are for pass-thru from arbitrary rc inputs
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k_rcin2 = 52,
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k_rcin3 = 53,
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k_rcin4 = 54,
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k_rcin5 = 55,
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k_rcin6 = 56,
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k_rcin7 = 57,
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k_rcin8 = 58,
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k_rcin9 = 59,
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k_rcin10 = 60,
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k_rcin11 = 61,
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k_rcin12 = 62,
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k_rcin13 = 63,
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k_rcin14 = 64,
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k_rcin15 = 65,
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k_rcin16 = 66,
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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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// output one auxillary channel
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void output_ch(void);
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// output all auxillary channels
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static void output_ch_all(void);
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// set radio_out for a function channel
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static void set_radio(Aux_servo_function_t function, int16_t value);
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// set radio_out for all channels matching the given function type, allow radio_trim to center servo
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static void set_radio_trimmed(Aux_servo_function_t function, int16_t value);
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// set and save the trim for a function channel to radio_in
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static void set_trim_to_radio_in_for(Aux_servo_function_t function);
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// set radio_out to radio_min
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static void set_radio_to_min(Aux_servo_function_t function);
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// set radio_out to radio_max
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static void set_radio_to_max(Aux_servo_function_t function);
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// set radio_out to radio_trim
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static void set_radio_to_trim(Aux_servo_function_t function);
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// copy radio_in to radio_out
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static void copy_radio_in_out(Aux_servo_function_t function, bool do_input_output=false);
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// set servo_out
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static void set_servo_out_for(Aux_servo_function_t function, int16_t value);
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// setup failsafe for an auxillary channel function, by pwm
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static void set_servo_failsafe_pwm(RC_Channel_aux::Aux_servo_function_t function, uint16_t pwm);
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// setup failsafe for an auxillary channel function
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static void set_servo_failsafe(Aux_servo_function_t function, RC_Channel::LimitValue limit);
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// set servo to a LimitValue
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static void set_servo_limit(Aux_servo_function_t function, RC_Channel::LimitValue limit);
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// return true if a function is assigned to a channel
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static bool function_assigned(Aux_servo_function_t function);
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// set a servo_out value, and angle range, then calc_pwm
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static void move_servo(Aux_servo_function_t function,
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int16_t value, int16_t angle_min, int16_t angle_max);
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static const struct AP_Param::GroupInfo var_info[];
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// assigned and enable auxillary channels
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static void enable_aux_servos(void);
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// prevent a channel from being used for auxillary functions
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static void disable_aux_channel(uint8_t channel);
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// return the current function for a channel
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static Aux_servo_function_t channel_function(uint8_t channel);
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// refresh aux servo to function mapping
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static void update_aux_servo_function(void);
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// set default channel for an auxillary function
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static bool set_aux_channel_default(Aux_servo_function_t function, uint8_t channel);
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// find first channel that a function is assigned to
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static bool find_channel(Aux_servo_function_t function, uint8_t &chan);
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private:
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static uint64_t _function_mask;
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static bool _initialised;
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static RC_Channel_aux *_aux_channels[RC_AUX_MAX_CHANNELS];
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void aux_servo_function_setup(void);
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};
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