From 11f196318e9f39e9c56f6fd69b5ef812f63c8abe Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 3 Apr 2014 12:18:56 +1100
Subject: [PATCH] RC_Channel: added static functions to simplify operations on
 all channels

this avoids vehicle code having to loop over all channels for common
operations
---
 libraries/RC_Channel/RC_Channel.cpp     | 22 ++++++++++++++++++++++
 libraries/RC_Channel/RC_Channel.h       |  2 ++
 libraries/RC_Channel/RC_Channel_aux.cpp | 17 +++++++++++++++--
 libraries/RC_Channel/RC_Channel_aux.h   |  6 +++++-
 4 files changed, 44 insertions(+), 3 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index a44b2adcf6..9164f4a60b 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -160,6 +160,19 @@ RC_Channel::set_pwm(int16_t pwm)
     }
 }
 
+/*
+  call read() and set_pwm() on all channels
+ */
+void
+RC_Channel::set_pwm_all(void)
+{
+    for (uint8_t i=0; i<RC_MAX_CHANNELS; i++) {
+        if (rc_ch[i] != NULL) {
+            rc_ch[i]->set_pwm(rc_ch[i]->read());
+        }
+    }
+}
+
 // read input from APM_RC - create a control_in value, but use a 
 // zero value for the dead zone. When done this way the control_in
 // value can be used as servo_out to give the same output as input
@@ -388,6 +401,15 @@ void RC_Channel::output_trim() const
     hal.rcout->write(_ch_out, radio_trim);
 }
 
+void RC_Channel::output_trim_all()
+{
+    for (uint8_t i=0; i<RC_MAX_CHANNELS; i++) {
+        if (rc_ch[i] != NULL) {
+            rc_ch[i]->output_trim();
+        }
+    }
+}
+
 void
 RC_Channel::input()
 {
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index a5caf7b8ed..8f619fdb69 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -53,6 +53,7 @@ public:
 
     // read input from APM_RC - create a control_in value
     void        set_pwm(int16_t pwm);
+    static void set_pwm_all(void);
     void        set_pwm_no_deadzone(int16_t pwm);
 
     // pwm is stored here
@@ -98,6 +99,7 @@ public:
 
     void                                            output() const;
     void                                            output_trim() const;
+    static void                                     output_trim_all();
     uint16_t                                        read() const;
     void                                            input();
     void                                            enable_out();
diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp
index b9100a7bf2..2594867eaa 100644
--- a/libraries/RC_Channel/RC_Channel_aux.cpp
+++ b/libraries/RC_Channel/RC_Channel_aux.cpp
@@ -24,7 +24,7 @@ uint32_t RC_Channel_aux::_function_mask;
 
 /// map a function to a servo channel and output it
 void
-RC_Channel_aux::output_ch(unsigned char ch_nr)
+RC_Channel_aux::output_ch(void)
 {
     // take care of two corner cases
     switch(function)
@@ -35,7 +35,20 @@ RC_Channel_aux::output_ch(unsigned char ch_nr)
         radio_out = radio_in;
         break;
     }
-    hal.rcout->write(ch_nr, radio_out);
+    hal.rcout->write(_ch_out, radio_out);
+}
+
+/*
+  call output_ch() on all auxillary channels
+ */
+void
+RC_Channel_aux::output_ch_all(void)
+{
+    for (uint8_t i = 0; i < RC_AUX_MAX_CHANNELS; i++) {
+        if (_aux_channels[i]) {
+            _aux_channels[i]->output_ch();
+        }
+    }    
 }
 
 /*
diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h
index 9f54bd9655..7b3302581b 100644
--- a/libraries/RC_Channel/RC_Channel_aux.h
+++ b/libraries/RC_Channel/RC_Channel_aux.h
@@ -71,7 +71,11 @@ public:
 
     AP_Int8         function;           ///< see Aux_servo_function_t enum
 
-    void            output_ch(unsigned char ch_nr);
+    // output one auxillary channel
+    void            output_ch(void);
+
+    // output all auxillary channels
+    static void     output_ch_all(void);
 
 	// set radio_out for a function channel
 	static void set_radio(Aux_servo_function_t function, int16_t value);