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Added some functionality to RC_Channel to meet APM needs.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1223 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-12-21 03:53:26 +00:00
parent eb89c04333
commit 24bb547eae
2 changed files with 32 additions and 3 deletions
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31
libraries/RC_Channel/RC_Channel.cpp
View File

@ -33,6 +33,13 @@ RC_Channel::set_angle(int angle)
_high = angle;
}
void
RC_Channel::set_reverse(bool reverse)
{
if (reverse) _reverse = -1;
else _reverse = 1;
}
void
RC_Channel::set_filter(bool filter)
{
@ -138,9 +145,27 @@ int16_t
RC_Channel::pwm_to_angle()
{
if(radio_in < radio_trim)
return _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
else
return _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim));
return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim));
}
float
RC_Channel::norm_input()
{
if(radio_in < radio_trim)
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
else
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
}
float
RC_Channel::norm_output()
{
if(radio_out < radio_trim)
return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
else
return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
}
int16_t
@ -157,7 +182,7 @@ RC_Channel::angle_to_pwm()
int16_t
RC_Channel::pwm_to_range()
{
return _low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min)));
return _reverse * (_low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min))));
}
int16_t

4
libraries/RC_Channel/RC_Channel.h
View File

@ -44,6 +44,7 @@ class RC_Channel{
// setup the control preferences
void set_range(int low, int high);
void set_angle(int angle);
void set_reverse(bool reverse);
// read input from APM_RC - create a control_in value
void set_pwm(int pwm);
@ -81,12 +82,15 @@ class RC_Channel{
//int16_t get_radio_out(void);
int16_t pwm_to_angle();
float norm_input();
float norm_output();
int16_t angle_to_pwm();
int16_t pwm_to_range();
int16_t range_to_pwm();
private:
bool _filter;
int8_t _reverse;
int16_t _address; ///< EEPROM address for save/restore of P/I/D
bool _type;