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APM: updated for new RC_Channel_aux API

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This commit is contained in:
Andrew Tridgell 2012-09-08 15:13:22 +10:00
parent 5060b8bd2e
commit 95e4316c72
2 changed files with 24 additions and 61 deletions
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75
ArduPlane/Attitude.pde
View File

@ -325,17 +325,6 @@ static void set_servos(void)
{
int16_t flapSpeedSource = 0;
// vectorize the rc channels
RC_Channel_aux* rc_array[NUM_CHANNELS];
rc_array[CH_1] = NULL;
rc_array[CH_2] = NULL;
rc_array[CH_3] = NULL;
rc_array[CH_4] = NULL;
rc_array[CH_5] = &g.rc_5;
rc_array[CH_6] = &g.rc_6;
rc_array[CH_7] = &g.rc_7;
rc_array[CH_8] = &g.rc_8;
if(control_mode == MANUAL) {
// do a direct pass through of radio values
if (g.mix_mode == 0) {
@ -349,26 +338,11 @@ static void set_servos(void)
g.channel_rudder.radio_out = g.channel_rudder.radio_in;
// FIXME To me it does not make sense to control the aileron using radio_in in manual mode
// Doug could you please take a look at this ?
if (g_rc_function[RC_Channel_aux::k_aileron]) {
if (g_rc_function[RC_Channel_aux::k_aileron] != rc_array[g.flight_mode_channel-1]) {
g_rc_function[RC_Channel_aux::k_aileron]->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
}
}
// only use radio_in if the channel is not used as flight_mode_channel
if (g_rc_function[RC_Channel_aux::k_flap_auto]) {
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
} else {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
}
}
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
} else {
if (g.mix_mode == 0) {
if (g_rc_function[RC_Channel_aux::k_aileron]) {
g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out;
g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm();
}
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, g.channel_roll.servo_out);
}else{
/*Elevon mode*/
float ch1;
@ -419,31 +393,24 @@ static void set_servos(void)
}
// Auto flap deployment
if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) {
if(control_mode < FLY_BY_WIRE_B) {
// only use radio_in if the channel is not used as flight_mode_channel
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
} else {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
}
} else if (control_mode >= FLY_BY_WIRE_B) {
// FIXME: use target_airspeed in both FBW_B and g.airspeed_enabled cases - Doug?
if (control_mode == FLY_BY_WIRE_B) {
flapSpeedSource = target_airspeed_cm * 0.01;
} else if (airspeed.use()) {
flapSpeedSource = g.airspeed_cruise_cm * 0.01;
} else {
flapSpeedSource = g.throttle_cruise;
}
if ( g.flap_1_speed != 0 && flapSpeedSource > g.flap_1_speed) {
g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = 0;
} else if (g.flap_2_speed != 0 && flapSpeedSource > g.flap_2_speed) {
g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_1_percent;
} else {
g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_2_percent;
}
g_rc_function[RC_Channel_aux::k_flap_auto]->calc_pwm();
if(control_mode < FLY_BY_WIRE_B) {
// only use radio_in if the channel is not used as flight_mode_channel
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
} else if (control_mode >= FLY_BY_WIRE_B) {
// FIXME: use target_airspeed in both FBW_B and g.airspeed_enabled cases - Doug?
if (control_mode == FLY_BY_WIRE_B) {
flapSpeedSource = target_airspeed_cm * 0.01;
} else if (airspeed.use()) {
flapSpeedSource = g.airspeed_cruise_cm * 0.01;
} else {
flapSpeedSource = g.throttle_cruise;
}
if ( g.flap_1_speed != 0 && flapSpeedSource > g.flap_1_speed) {
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, 0);
} else if (g.flap_2_speed != 0 && flapSpeedSource > g.flap_2_speed) {
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, g.flap_1_percent);
} else {
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flap_auto, g.flap_2_percent);
}
}

10
ArduPlane/radio.pde
View File

@ -167,9 +167,8 @@ static void trim_control_surfaces()
if(g.mix_mode == 0) {
g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
}else{
RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron);
} else{
elevon1_trim = ch1_temp;
elevon2_trim = ch2_temp;
//Recompute values here using new values for elevon1_trim and elevon2_trim
@ -185,7 +184,6 @@ static void trim_control_surfaces()
g.channel_pitch.save_eeprom();
g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}
static void trim_radio()
@ -200,8 +198,7 @@ static void trim_radio()
g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron);
} else {
elevon1_trim = ch1_temp;
elevon2_trim = ch2_temp;
@ -216,5 +213,4 @@ static void trim_radio()
g.channel_pitch.save_eeprom();
//g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}