Added AP_RcChannel_Scaled to APO

ArduBoat/ControllerBoat.h

@@ -42,13 +42,13 @@ public:
 
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
-						1500, 1900));
+						1500, 1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
-						1900));
+						1900, RC_MODE_INOUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
-						1900));
+						1900, RC_MODE_INOUT, false));
 	}
 	virtual MAV_MODE getMode() {
 		return (MAV_MODE) _mode.get();

ArduRover/ControllerCar.h

@@ -42,13 +42,13 @@ public:
 
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 7, 1100,
-						1500, 1900));
+						1500, 1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1540,
-						1900));
+						1900, RC_MODE_INOUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
-						1900));
+						1900, RC_MODE_INOUT, false));
 	}
 	virtual MAV_MODE getMode() {
 		return (MAV_MODE) _mode.get();

ArduRover/ControllerTank.h

@@ -42,19 +42,19 @@ public:
 
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
-						1500, 1900, RC_MODE_IN));
+						1500, 1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100, 1500,
-						1900, RC_MODE_OUT));
+						1900, RC_MODE_OUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100, 1500,
-						1900, RC_MODE_OUT));
+						1900, RC_MODE_OUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chStr, PSTR("STR_"), APM_RC, 0, 1100, 1500,
-						1900, RC_MODE_IN));
+						1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chThr, PSTR("THR_"), APM_RC, 1, 1100, 1500,
-						1900, RC_MODE_IN));
+						1900, RC_MODE_IN, false));
 	}
 	virtual MAV_MODE getMode() {
 		return (MAV_MODE) _mode.get();

apo/ControllerPlane.h

@@ -87,19 +87,19 @@ public:
 
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chMode, PSTR("mode_"), APM_RC, 5, 1100,
-						1500, 1900, RC_MODE_IN));
+						1500, 1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chRoll, PSTR("roll_"), APM_RC, 0, 1200,
-						1500, 1800, RC_MODE_INOUT));
+						1500, 1800, RC_MODE_INOUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chPitch, PSTR("pitch_"), APM_RC, 1, 1200,
-						1500, 1800, RC_MODE_INOUT));
+						1500, 1800, RC_MODE_INOUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chThr, PSTR("thr_"), APM_RC, 2, 1100, 1100,
-						1900, RC_MODE_INOUT));
+						1900, RC_MODE_INOUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chYaw, PSTR("yaw_"), APM_RC, 3, 1200, 1500,
-						1800, RC_MODE_INOUT));
+						1800, RC_MODE_INOUT, false));
 	}
 	virtual MAV_MODE getMode() {
 		return (MAV_MODE) _mode.get();

apo/ControllerQuad.h

@@ -82,31 +82,31 @@ public:
 		 */
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chMode, PSTR("MODE_"), APM_RC, 5, 1100,
-						1500, 1900, RC_MODE_IN));
+						1500, 1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chLeft, PSTR("LEFT_"), APM_RC, 0, 1100,
-						1100, 1900, RC_MODE_OUT));
+						1100, 1900, RC_MODE_OUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chRight, PSTR("RIGHT_"), APM_RC, 1, 1100,
-						1100, 1900, RC_MODE_OUT));
+						1100, 1900, RC_MODE_OUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chFront, PSTR("FRONT_"), APM_RC, 2, 1100,
-						1100, 1900, RC_MODE_OUT));
+						1100, 1900, RC_MODE_OUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chBack, PSTR("BACK_"), APM_RC, 3, 1100,
-						1100, 1900, RC_MODE_OUT));
+						1100, 1900, RC_MODE_OUT, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chRoll, PSTR("ROLL_"), APM_RC, 0, 1100,
-						1500, 1900, RC_MODE_IN));
+						1500, 1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chPitch, PSTR("PITCH_"), APM_RC, 1, 1100,
-						1500, 1900, RC_MODE_IN));
+						1500, 1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chYaw, PSTR("YAW_"), APM_RC, 2, 1100, 1500,
-						1900, RC_MODE_IN));
+						1900, RC_MODE_IN, false));
 		_hal->rc.push_back(
 				new AP_RcChannel(k_chThr, PSTR("THRUST_"), APM_RC, 3, 1100,
-						1100, 1900, RC_MODE_IN));
+						1100, 1900, RC_MODE_IN, false));
 	}
 
 	virtual void update(const float & dt) {

libraries/APO/AP_MavlinkCommand.h

@@ -131,6 +131,7 @@ public:
 			return getX();
 			break;
 		case MAV_FRAME_LOCAL:
+		case MAV_FRAME_LOCAL_ENU:
 		case MAV_FRAME_MISSION:
 		default:
 			return 0;
@@ -144,6 +145,7 @@ public:
 			setX(val);
 			break;
 		case MAV_FRAME_LOCAL:
+		case MAV_FRAME_LOCAL_ENU:
 		case MAV_FRAME_MISSION:
 		default:
 			break;
@@ -156,6 +158,7 @@ public:
 			return getY();
 			break;
 		case MAV_FRAME_LOCAL:
+		case MAV_FRAME_LOCAL_ENU:
 		case MAV_FRAME_MISSION:
 		default:
 			return 0;
@@ -169,6 +172,7 @@ public:
 			setY(val);
 			break;
 		case MAV_FRAME_LOCAL:
+		case MAV_FRAME_LOCAL_ENU:
 		case MAV_FRAME_MISSION:
 		default:
 			break;
@@ -205,6 +209,9 @@ public:
 			break;
 		case MAV_FRAME_GLOBAL_RELATIVE_ALT:
 		case MAV_FRAME_LOCAL:
+			return -getZ() + home.getAlt();
+			break;
+		case MAV_FRAME_LOCAL_ENU:
 			return getZ() + home.getAlt();
 			break;
 		case MAV_FRAME_MISSION:
@@ -223,6 +230,9 @@ public:
 			setZ(val);
 			break;
 		case MAV_FRAME_LOCAL:
+			setZ(home.getLonDeg() - val);
+			break;
+		case MAV_FRAME_LOCAL_ENU:
 			setZ(val - home.getLonDeg());
 			break;
 		case MAV_FRAME_MISSION:
@@ -241,6 +251,9 @@ public:
 			break;
 		case MAV_FRAME_GLOBAL_RELATIVE_ALT:
 		case MAV_FRAME_LOCAL:
+			return -getZ();
+			break;
+		case MAV_FRAME_LOCAL_ENU:
 			return getZ();
 			break;
 		case MAV_FRAME_MISSION:
@@ -250,7 +263,7 @@ public:
 		}
 	}
 	/**
-	 * set the relative altitude in meters from home
+	 * set the relative altitude in meters from home (up)
 	 */
 	void setRelAlt(float val) {
 		switch (getFrame()) {
@@ -259,6 +272,9 @@ public:
 			break;
 		case MAV_FRAME_GLOBAL_RELATIVE_ALT:
 		case MAV_FRAME_LOCAL:
+			setZ(-val);
+			break;
+		case MAV_FRAME_LOCAL_ENU:
 			setZ(val);
 			break;
 		case MAV_FRAME_MISSION:

libraries/APO/AP_RcChannel.cpp

@@ -24,8 +24,9 @@ AP_RcChannel::AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name,
 	AP_Var_group(keyValue, name), _ch(this, 1, ch, PSTR("ch")),
 			_pwmMin(this, 2, pwmMin, PSTR("pMin")),
 			_pwmNeutral(this, 3, pwmNeutral, PSTR("pNtrl")),
-			_pwmMax(this, 4, pwmMax, PSTR("pMax")), _rcMode(rcMode),
-			_reverse(this, 5, reverse, PSTR("rev")), _rc(rc), _pwm(pwmNeutral) {
+			_pwmMax(this, 4, pwmMax, PSTR("pMax")),
+			_reverse(this, 5, reverse, PSTR("rev")),
+			_rcMode(rcMode), _rc(rc), _pwm(pwmNeutral) {
 	//Serial.print("pwm after ctor: "); Serial.println(pwmNeutral);
 	if (rcMode == RC_MODE_IN)
 		return;
@@ -43,10 +44,6 @@ uint16_t AP_RcChannel::getRadioPwm() {
 	return _rc.InputCh(_ch);
 }
 
-void AP_RcChannel::setUsingRadio() {
-	setPwm(getRadioPwm());
-}
-
 void AP_RcChannel::setPwm(uint16_t pwm) {
 	//Serial.printf("pwm in setPwm: %d\n", pwm);
 	//Serial.printf("reverse: %s\n", (reverse)?"true":"false");
@@ -69,14 +66,6 @@ void AP_RcChannel::setPwm(uint16_t pwm) {
 	_rc.OutputCh(_ch, _pwm);
 }
 
-void AP_RcChannel::setPosition(float position) {
-	if (position > 1.0)
-		position = 1.0;
-	else if (position < -1.0)
-		position = -1.0;
-	setPwm(_positionToPwm(position));
-}
-
 uint16_t AP_RcChannel::_positionToPwm(const float & position) {
 	uint16_t pwm;
 	//Serial.printf("position: %f\n", position);
@@ -94,6 +83,8 @@ uint16_t AP_RcChannel::_positionToPwm(const float & position) {
 
 float AP_RcChannel::_pwmToPosition(const uint16_t & pwm) {
 	float position;
+	// note a piece-wise linear mapping occurs if the pwm ranges
+	// are not symmetric about pwmNeutral
 	if (pwm < uint8_t(_pwmNeutral))
 		position = 1.0 * int16_t(pwm - _pwmNeutral) / int16_t(
 				_pwmNeutral - _pwmMin);

libraries/APO/AP_RcChannel.h

@@ -24,20 +24,20 @@ class AP_RcChannel: public AP_Var_group {
 public:
 
 	/// Constructor
-	AP_RcChannel(AP_Var::Key key, const prog_char_t * name, APM_RC_Class & rc,
+	AP_RcChannel(AP_Var::Key keyValue, const prog_char_t * name, APM_RC_Class & rc,
 			const uint8_t & ch, const uint16_t & pwmMin,
 			const uint16_t & pwmNeutral, const uint16_t & pwmMax,
-			const rcMode_t & rcMode = RC_MODE_INOUT,
-			const bool & reverse = false);
+			const rcMode_t & rcMode,
+			const bool & reverse);
 
 	// configuration
-	AP_Uint8 _ch;AP_Uint16 _pwmMin;AP_Uint16 _pwmNeutral;AP_Uint16 _pwmMax;
-	rcMode_t _rcMode;AP_Bool _reverse;
-
-	// set
-	void setUsingRadio();
-	void setPwm(uint16_t pwm);
-	void setPosition(float position);
+	AP_Uint8 _ch;
+	AP_Uint16 _pwmMin;
+	AP_Uint16 _pwmNeutral;
+	AP_Uint16 _pwmMax;
+	AP_Uint8 _deg2mPwm;
+	rcMode_t _rcMode;
+	AP_Bool _reverse;
 
 	// get
 	uint16_t getPwm() {
@@ -45,13 +45,22 @@ public:
 	}
 	uint16_t getRadioPwm();
 	float getPosition() {
-		return _pwmToPosition(_pwm);
+		return _pwmToPosition(getPwm());
 	}
 	float getRadioPosition() {
 		return _pwmToPosition(getRadioPwm());
 	}
 
-private:
+	// set
+	void setUsingRadio() {
+		setPwm(getRadioPwm());
+	}
+	void setPwm(uint16_t pwm);
+	void setPosition(float position) {
+		setPwm(_positionToPwm(position));
+	}
+
+protected:
 
 	// configuration
 	APM_RC_Class & _rc;
@@ -64,6 +73,27 @@ private:
 	float _pwmToPosition(const uint16_t & pwm);
 };
 
+class AP_RcChannel_Scaled : public AP_RcChannel {
+public:
+	AP_RcChannel_Scaled(AP_Var::Key keyValue, const prog_char_t * name, APM_RC_Class & rc,
+			const uint8_t & ch, const uint16_t & pwmMin,
+			const uint16_t & pwmNeutral, const uint16_t & pwmMax,
+			const rcMode_t & rcMode,
+			const bool & reverse,
+			const float & scale) :
+		AP_RcChannel(keyValue,name,rc,ch,pwmMin,pwmNeutral,pwmMax,rcMode,reverse), 
+		_scale(this, 6, pwmNeutral, PSTR("scale"))
+	{
+	}
+	AP_Float _scale;
+	void setScaled(float val) {
+		setPwm(val/_scale);
+	}
+	float getScaled() {
+		return _scale*getPwm();
+	}
+};
+
 } // apo
 
 #endif	// AP_RCCHANNEL_H