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Copter: support up to 14 input channels for all boards

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This commit is contained in:
Andrew Tridgell 2016-01-04 08:22:51 +11:00
parent 7b6d862316
commit 5c94b61f49
3 changed files with 0 additions and 18 deletions
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4
ArduCopter/Parameters.cpp
View File

@ -557,11 +557,9 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux), GGROUP(rc_8, "RC8_", RC_Channel_aux),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC9_ // @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux), GGROUP(rc_9, "RC9_", RC_Channel_aux),
#endif
// @Group: RC10_ // @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
@ -570,7 +568,6 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_11, "RC11_", RC_Channel_aux), GGROUP(rc_11, "RC11_", RC_Channel_aux),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// @Group: RC12_ // @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_12, "RC12_", RC_Channel_aux), GGROUP(rc_12, "RC12_", RC_Channel_aux),
@ -582,7 +579,6 @@ const AP_Param::Info Copter::var_info[] = {
// @Group: RC14_ // @Group: RC14_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_14, "RC14_", RC_Channel_aux), GGROUP(rc_14, "RC14_", RC_Channel_aux),
#endif
// @Param: RC_SPEED // @Param: RC_SPEED
// @DisplayName: ESC Update Speed // @DisplayName: ESC Update Speed

8
ArduCopter/Parameters.h
View File

@ -472,16 +472,12 @@ public:
RC_Channel_aux rc_6; RC_Channel_aux rc_6;
RC_Channel_aux rc_7; RC_Channel_aux rc_7;
RC_Channel_aux rc_8; RC_Channel_aux rc_8;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_9; RC_Channel_aux rc_9;
#endif
RC_Channel_aux rc_10; RC_Channel_aux rc_10;
RC_Channel_aux rc_11; RC_Channel_aux rc_11;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
RC_Channel_aux rc_12; RC_Channel_aux rc_12;
RC_Channel_aux rc_13; RC_Channel_aux rc_13;
RC_Channel_aux rc_14; RC_Channel_aux rc_14;
#endif
AP_Int16 rc_speed; // speed of fast RC Channels in Hz AP_Int16 rc_speed; // speed of fast RC Channels in Hz
@ -550,16 +546,12 @@ public:
rc_6 (CH_6), rc_6 (CH_6),
rc_7 (CH_7), rc_7 (CH_7),
rc_8 (CH_8), rc_8 (CH_8),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_9 (CH_9), rc_9 (CH_9),
#endif
rc_10 (CH_10), rc_10 (CH_10),
rc_11 (CH_11), rc_11 (CH_11),
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
rc_12 (CH_12), rc_12 (CH_12),
rc_13 (CH_13), rc_13 (CH_13),
rc_14 (CH_14), rc_14 (CH_14),
#endif
// PID controller initial P initial I initial D initial imax initial filt hz pid rate // PID controller initial P initial I initial D initial imax initial filt hz pid rate
//--------------------------------------------------------------------------------------------------------------------------------- //---------------------------------------------------------------------------------------------------------------------------------

6
ArduCopter/switches.cpp
View File

@ -149,7 +149,6 @@ void Copter::read_aux_switches()
do_aux_switch_function(g.ch8_option, aux_con.CH8_flag); do_aux_switch_function(g.ch8_option, aux_con.CH8_flag);
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// check if Ch9 switch has changed position // check if Ch9 switch has changed position
switch_position = read_3pos_switch(g.rc_9.radio_in); switch_position = read_3pos_switch(g.rc_9.radio_in);
if (aux_con.CH9_flag != switch_position) { if (aux_con.CH9_flag != switch_position) {
@ -159,7 +158,6 @@ void Copter::read_aux_switches()
// invoke the appropriate function // invoke the appropriate function
do_aux_switch_function(g.ch9_option, aux_con.CH9_flag); do_aux_switch_function(g.ch9_option, aux_con.CH9_flag);
} }
#endif
// check if Ch10 switch has changed position // check if Ch10 switch has changed position
switch_position = read_3pos_switch(g.rc_10.radio_in); switch_position = read_3pos_switch(g.rc_10.radio_in);
@ -204,10 +202,8 @@ void Copter::init_aux_switches()
aux_con.CH11_flag = read_3pos_switch(g.rc_11.radio_in); aux_con.CH11_flag = read_3pos_switch(g.rc_11.radio_in);
// ch9, ch12 only supported on some boards // ch9, ch12 only supported on some boards
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
aux_con.CH9_flag = read_3pos_switch(g.rc_9.radio_in); aux_con.CH9_flag = read_3pos_switch(g.rc_9.radio_in);
aux_con.CH12_flag = read_3pos_switch(g.rc_12.radio_in); aux_con.CH12_flag = read_3pos_switch(g.rc_12.radio_in);
#endif
// initialise functions assigned to switches // initialise functions assigned to switches
init_aux_switch_function(g.ch7_option, aux_con.CH7_flag); init_aux_switch_function(g.ch7_option, aux_con.CH7_flag);
@ -216,10 +212,8 @@ void Copter::init_aux_switches()
init_aux_switch_function(g.ch11_option, aux_con.CH11_flag); init_aux_switch_function(g.ch11_option, aux_con.CH11_flag);
// ch9, ch12 only supported on some boards // ch9, ch12 only supported on some boards
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
init_aux_switch_function(g.ch9_option, aux_con.CH9_flag); init_aux_switch_function(g.ch9_option, aux_con.CH9_flag);
init_aux_switch_function(g.ch12_option, aux_con.CH12_flag); init_aux_switch_function(g.ch12_option, aux_con.CH12_flag);
#endif
} }
// init_aux_switch_function - initialize aux functions // init_aux_switch_function - initialize aux functions