mirror of https://github.com/ArduPilot/ardupilot
74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
/*
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control of servo output ranges, trim and servo reversal. This can
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optionally be used to provide separation of input and output channel
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ranges so that RCn_MIN, RCn_MAX, RCn_TRIM and RCn_REV only apply to
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the input side of RC_Channel
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It works by running servo output calculations as normal, then
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re-mapping the output according to the servo MIN/MAX/TRIM/REV from
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this object
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Only 4 channels of ranges are defined as those match the input
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channels for R/C sticks
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include "RC_Channel.h"
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#define NUM_SERVO_RANGE_CHANNELS 4
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/*
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class SRV_Channel
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*/
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class SRV_Channels {
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public:
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// constructor
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SRV_Channels(void);
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static const struct AP_Param::GroupInfo var_info[];
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// take current radio_out for first 4 channels and remap using
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// servo ranges if enabled
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void remap_servo_output(void);
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// set and save trim values from current RC input trim
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void set_trim(void);
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// setup output ESC scaling for a channel
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void set_esc_scaling(uint8_t chnum);
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// return true when enabled
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bool enabled(void) const { return enable; }
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// return true when auto_trim enabled
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bool auto_trim_enabled(void) const { return auto_trim; }
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// adjust trim of a channel by a small increment
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void adjust_trim(uint8_t ch, float v);
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// save trims
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void save_trim(void);
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private:
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AP_Int8 enable;
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int8_t esc_cal_chan;
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bool last_enable;
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uint8_t trimmed_mask;
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// PWM values for min/max and trim
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AP_Int16 servo_min[NUM_SERVO_RANGE_CHANNELS];
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AP_Int16 servo_max[NUM_SERVO_RANGE_CHANNELS];
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AP_Int16 servo_trim[NUM_SERVO_RANGE_CHANNELS];
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// reversal, following convention that < 0 means reversed, >= 0 means normal
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AP_Int8 reverse[NUM_SERVO_RANGE_CHANNELS];
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AP_Int8 auto_trim;
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// remap a PWM value from a channel in value
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uint16_t remap_pwm(uint8_t ch, uint16_t pwm) const;
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};
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