mirror of https://github.com/ArduPilot/ardupilot
128 lines
5.1 KiB
C++
128 lines
5.1 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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const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = {
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AP_NESTEDGROUPINFO(RC_Channel, 0),
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// @Param: FUNCTION
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// @DisplayName: Servo out function
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// @Description: Setting this to Disabled(0) will disable this output, any other value will enable the corresponding function
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// @Values: 0:Disabled,1:Manual,2:Flap,3:Flap_auto,4:Aileron,5:flaperon,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release
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// @User: Standard
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AP_GROUPINFO("FUNCTION", 1, RC_Channel_aux, function, 0),
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AP_GROUPEND
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};
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/// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation
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RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];
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/// enable_out_ch - enable the channel through APM_RC
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void
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RC_Channel_aux::enable_out_ch(unsigned char ch_nr)
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{
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// enable_out this channel if it assigned to a function
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if( function != k_none ) {
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_apm_rc->enable_out(ch_nr);
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}
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}
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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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/// Supports up to seven aux servo outputs (typically CH5 ... CH11)
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/// All servos must be configured with a single call to this function
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/// (do not call this twice with different parameters, the second call will reset the effect of the first call)
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void update_aux_servo_function( RC_Channel_aux* rc_a,
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RC_Channel_aux* rc_b,
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RC_Channel_aux* rc_c,
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RC_Channel_aux* rc_d,
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RC_Channel_aux* rc_e,
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RC_Channel_aux* rc_f,
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RC_Channel_aux* rc_g)
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{
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RC_Channel_aux::Aux_servo_function_t aux_servo_function[7];
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aux_servo_function[0] = (rc_a == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_a->function.get();
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aux_servo_function[1] = (rc_b == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_b->function.get();
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aux_servo_function[2] = (rc_c == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_c->function.get();
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aux_servo_function[3] = (rc_d == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_d->function.get();
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aux_servo_function[4] = (rc_e == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_e->function.get();
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aux_servo_function[5] = (rc_f == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_f->function.get();
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aux_servo_function[6] = (rc_g == NULL)?RC_Channel_aux::k_none:(RC_Channel_aux::Aux_servo_function_t)rc_g->function.get();
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for (uint8_t i = 0; i < 7; i++) {
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if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {
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// invalid setting
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aux_servo_function[i] = RC_Channel_aux::k_none;
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}
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}
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// Assume that no auxiliary function is used
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for (uint8_t 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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if( rc_a != NULL ) { g_rc_function[aux_servo_function[0]] = rc_a; }
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if( rc_b != NULL ) { g_rc_function[aux_servo_function[1]] = rc_b; }
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if( rc_c != NULL ) { g_rc_function[aux_servo_function[2]] = rc_c; }
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if( rc_d != NULL ) { g_rc_function[aux_servo_function[3]] = rc_d; }
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if( rc_e != NULL ) { g_rc_function[aux_servo_function[3]] = rc_e; }
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if( rc_f != NULL ) { g_rc_function[aux_servo_function[3]] = rc_f; }
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if( rc_g != NULL ) { g_rc_function[aux_servo_function[3]] = rc_g; }
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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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G_RC_AUX(k_mount_pan)->set_range(
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g_rc_function[RC_Channel_aux::k_mount_pan]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_mount_pan]->angle_max / 10);
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G_RC_AUX(k_mount_tilt)->set_range(
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g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_max / 10);
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G_RC_AUX(k_mount_roll)->set_range(
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g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
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G_RC_AUX(k_mount_open)->set_range(0,100);
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G_RC_AUX(k_cam_trigger)->set_range(
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g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
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*/
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G_RC_AUX(k_egg_drop)->set_range(0,100);
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}
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/// Should be called after the the servo functions have been initialized
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void
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enable_aux_servos()
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{
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for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
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{
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if (g_rc_function[i]) g_rc_function[i]->enable_out();
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}
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}
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