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Copter: Use RC_Channels instead of hal.rcin

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This commit is contained in:
Michael du Breuil 2018-04-03 19:17:43 -07:00 committed by Francisco Ferreira
parent 40810f5973
commit d96919ed21
4 changed files with 21 additions and 21 deletions
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30
ArduCopter/GCS_Mavlink.cpp
View File

@ -787,25 +787,25 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if (!copter.ap.rc_override_enable) {
if (copter.failsafe.rc_override_active) { // if overrides were active previously, disable them
copter.failsafe.rc_override_active = false;
hal.rcin->clear_overrides();
RC_Channels::clear_overrides();
}
break;
}
mavlink_rc_channels_override_t packet;
int16_t v[8];
bool override_active = false;
mavlink_msg_rc_channels_override_decode(msg, &packet);
v[0] = packet.chan1_raw;
v[1] = packet.chan2_raw;
v[2] = packet.chan3_raw;
v[3] = packet.chan4_raw;
v[4] = packet.chan5_raw;
v[5] = packet.chan6_raw;
v[6] = packet.chan7_raw;
v[7] = packet.chan8_raw;
override_active |= RC_Channels::set_override(0, packet.chan1_raw);
override_active |= RC_Channels::set_override(1, packet.chan2_raw);
override_active |= RC_Channels::set_override(2, packet.chan3_raw);
override_active |= RC_Channels::set_override(3, packet.chan4_raw);
override_active |= RC_Channels::set_override(4, packet.chan5_raw);
override_active |= RC_Channels::set_override(5, packet.chan6_raw);
override_active |= RC_Channels::set_override(6, packet.chan7_raw);
override_active |= RC_Channels::set_override(7, packet.chan8_raw);
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
copter.failsafe.rc_override_active = hal.rcin->set_overrides(v, 8);
copter.failsafe.rc_override_active = override_active;
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
@ -835,10 +835,10 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
int16_t throttle = (packet.z == INT16_MAX) ? 0 : copter.channel_throttle->get_radio_min() + (copter.channel_throttle->get_radio_max() - copter.channel_throttle->get_radio_min()) * (packet.z) / 1000.0f;
int16_t yaw = (packet.r == INT16_MAX) ? 0 : copter.channel_yaw->get_radio_min() + (copter.channel_yaw->get_radio_max() - copter.channel_yaw->get_radio_min()) * (packet.r + 1000) / 2000.0f;
override_active |= hal.rcin->set_override(uint8_t(copter.rcmap.roll() - 1), roll);
override_active |= hal.rcin->set_override(uint8_t(copter.rcmap.pitch() - 1), pitch);
override_active |= hal.rcin->set_override(uint8_t(copter.rcmap.throttle() - 1), throttle);
override_active |= hal.rcin->set_override(uint8_t(copter.rcmap.yaw() - 1), yaw);
override_active |= RC_Channels::set_override(uint8_t(copter.rcmap.roll() - 1), roll);
override_active |= RC_Channels::set_override(uint8_t(copter.rcmap.pitch() - 1), pitch);
override_active |= RC_Channels::set_override(uint8_t(copter.rcmap.throttle() - 1), throttle);
override_active |= RC_Channels::set_override(uint8_t(copter.rcmap.yaw() - 1), yaw);
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
copter.failsafe.rc_override_active = override_active;

2
ArduCopter/events.cpp
View File

@ -119,7 +119,7 @@ void Copter::failsafe_gcs_check()
Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_OCCURRED);
// clear overrides so that RC control can be regained with radio.
hal.rcin->clear_overrides();
RC_Channels::clear_overrides();
failsafe.rc_override_active = false;
if (should_disarm_on_failsafe()) {

2
ArduCopter/radio.cpp
View File

@ -95,7 +95,7 @@ void Copter::read_radio()
{
uint32_t tnow_ms = millis();
if (hal.rcin->new_input()) {
if (RC_Channels::has_new_input()) {
ap.new_radio_frame = true;
RC_Channels::set_pwm_all();

8
ArduCopter/toy_mode.cpp
View File

@ -226,9 +226,9 @@ void ToyMode::update()
bool power_button = false;
bool left_change = false;
uint16_t ch5_in = hal.rcin->read(CH_5);
uint16_t ch6_in = hal.rcin->read(CH_6);
uint16_t ch7_in = hal.rcin->read(CH_7);
uint16_t ch5_in = RC_Channels::get_radio_in(CH_5);
uint16_t ch6_in = RC_Channels::get_radio_in(CH_6);
uint16_t ch7_in = RC_Channels::get_radio_in(CH_7);
if (copter.failsafe.radio || ch5_in < 900) {
// failsafe handling is outside the scope of toy mode, it does
@ -715,7 +715,7 @@ void ToyMode::trim_update(void)
}
uint16_t chan[4];
if (hal.rcin->read(chan, 4) != 4) {
if (RC_Channels::get_radio_in(chan, 4) != 4) {
trim.start_ms = 0;
return;
}