Moved the RC_Channel_aux class to its own file. The includes could be improved, has anyone got any ideas how ?

ArduPlane/ArduPlane.pde

@@ -39,6 +39,7 @@ version 2.1 of the License, or (at your option) any later version.
 #include <AP_DCM.h>         // ArduPilot Mega DCM Library
 #include <PID.h>            // PID library
 #include <RC_Channel.h>     // RC Channel Library
+#include <../libraries/RC_Channel/RC_Channel_aux.h> // Auxiliary RC Channel Library (Channels 5..8)
 #include <AP_RangeFinder.h>	// Range finder library
 #include <ModeFilter.h>
 #include <AP_Camera.h>		// Photo or video camera

libraries/AP_Camera/AP_Camera.cpp

@@ -1,7 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
 #include <AP_Camera.h>
-#include <RC_Channel.h>
+#include <../RC_Channel/RC_Channel_aux.h>
 
 extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];	// the aux. servo ch. assigned to each function
 extern long	wp_distance;

libraries/AP_Mount/AP_Mount.cpp

@@ -1,5 +1,7 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
 #include <AP_Mount.h>
-#include <RC_Channel.h>
+#include <../RC_Channel/RC_Channel_aux.h>
 
 extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions];	// the aux. servo ch. assigned to each function
 

libraries/RC_Channel/RC_Channel.cpp

@@ -11,7 +11,6 @@
 
 #include <math.h>
 #include <avr/eeprom.h>
-#include <APM_RC.h>
 #include "WProgram.h"
 #include "RC_Channel.h"
 
@@ -219,68 +218,3 @@ RC_Channel::norm_output()
 	else
 		return (float)(radio_out - radio_trim) / (float)(radio_max  - radio_trim);
 }
-
-int16_t
-RC_Channel_aux::closest_limit(int16_t angle)
-{
-	// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
-	int16_t min = angle_min / 10;
-	int16_t max = angle_max / 10;
-
-	// Make sure the angle lies in the interval [-180 .. 180[ degrees
-	while (angle < -1800) angle += 3600;
-	while (angle >= 1800) angle -= 3600;
-
-	// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
-	while (min < -1800) min += 3600;
-	while (min >= 1800) min -= 3600;
-	while (max < -1800) max += 3600;
-	while (max >= 1800) max -= 3600;
-	set_range(min, max);
-
-	// If the angle is outside servo limits, saturate the angle to the closest limit
-	// On a circle the closest angular position must be carefully calculated to account for wrap-around
-	if ((angle < min) && (angle > max)){
-		// angle error if min limit is used
-		int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
-		// angle error if max limit is used
-		int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
-		angle = err_min<err_max?min:max;
-	}
-
-	servo_out = angle;
-	// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
-	calc_pwm();
-
-	return angle;
-}
-
-// map a function to a servo channel and output it
-void
-RC_Channel_aux::output_ch(unsigned char ch_nr)
-{
-	switch(function)
-	{
-	case k_none: 		// disabled
-		return;
-		break;
-	case k_manual:		// manual
-		radio_out = radio_in;
-		break;
-	case k_flap:		// flaps
-	case k_flap_auto:	// flaps automated
-	case k_aileron:		// aileron
-	case k_flaperon:	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
-	case k_mount_yaw:	// mount yaw (pan)
-	case k_mount_pitch:	// mount pitch (tilt)
-	case k_mount_roll:	// mount roll
-	case k_cam_trigger:	// camera trigger
-	case k_cam_open:	// camera open
-	case k_egg_drop:	// egg drop
-	case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
-	default:
-		break;
-	}
-
-	APM_RC.OutputCh(ch_nr, radio_out);
-}

libraries/RC_Channel/RC_Channel.h

@@ -7,8 +7,6 @@
 #define RC_Channel_h
 
 #include <AP_Common.h>
-// TODO is this include really necessary ?
-#include <stdint.h>
 
 /// @class	RC_Channel
 /// @brief	Object managing one RC channel
@@ -104,57 +102,4 @@ class RC_Channel{
 	int16_t 	_low;
 };
 
-/// @class	RC_Channel_aux
-/// @brief	Object managing one aux. RC channel (CH5-8), with information about its function
-/// 	    Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
-class RC_Channel_aux : public RC_Channel{
-public:
-	/// Constructor
-	///
-	/// @param key      EEPROM storage key for the channel trim parameters.
-	/// @param name     Optional name for the group.
-	///
-	RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
-		RC_Channel(key, name),
-		function  (&_group, 4,  k_none, name ? PSTR("FUNCTION")  : 0), // suppress name if group has no name
-		angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection
-		angle_max (&_group, 6,  4500, name ? PSTR("ANGLE_MAX") : 0)  // assume  45 degrees max deflection
-	{}
-
-	typedef enum
-	{
-		k_none			= 0,	// disabled
-		k_manual		= 1,	// manual, just pass-thru the RC in signal
-		k_flap			= 2,	// flap
-		k_flap_auto		= 3,	// flap automated
-		k_aileron		= 4,	// aileron
-		k_flaperon		= 5,	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
-		k_mount_yaw		= 6,	// mount yaw (pan)
-		k_mount_pitch	= 7,	// mount pitch (tilt)
-		k_mount_roll	= 8,	// mount roll
-		k_cam_trigger	= 9,	// camera trigger
-		k_cam_open		= 10,	// camera open
-		k_egg_drop		= 11,	// egg drop
-		k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
-	} Aux_servo_function_t;
-
-	// TODO It would be great if the "packed" attribute could be added to this somehow
-	// It would probably save some memory. But it can only be added to enums and not to typedefs :(
-	/*AP_VARDEF(Aux_servo_function_t, Aux_srv_func);    // defines AP_Aux_srv_func
-
-	AP_Aux_srv_func 	function;*/	// 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
-	AP_Int8 	function;	// 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
-	AP_Int16 	angle_min;	// min angle limit of actuated surface in 0.01 degree units
-	AP_Int16 	angle_max;	// max angle limit of actuated surface in 0.01 degree units
-
-	int16_t closest_limit(int16_t angle);	// saturate to the closest angle limit if outside of min max angle interval
-
-	void output_ch(unsigned char ch_nr);	// map a function to a servo channel and output it
-
-};
-
 #endif
-
-
-
-

libraries/RC_Channel/RC_Channel_aux.cpp

@@ -0,0 +1,69 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+#include <APM_RC.h>
+#include "RC_Channel_aux.h"
+
+int16_t
+RC_Channel_aux::closest_limit(int16_t angle)
+{
+	// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
+	int16_t min = angle_min / 10;
+	int16_t max = angle_max / 10;
+
+	// Make sure the angle lies in the interval [-180 .. 180[ degrees
+	while (angle < -1800) angle += 3600;
+	while (angle >= 1800) angle -= 3600;
+
+	// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
+	while (min < -1800) min += 3600;
+	while (min >= 1800) min -= 3600;
+	while (max < -1800) max += 3600;
+	while (max >= 1800) max -= 3600;
+	set_range(min, max);
+
+	// If the angle is outside servo limits, saturate the angle to the closest limit
+	// On a circle the closest angular position must be carefully calculated to account for wrap-around
+	if ((angle < min) && (angle > max)){
+		// angle error if min limit is used
+		int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
+		// angle error if max limit is used
+		int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
+		angle = err_min<err_max?min:max;
+	}
+
+	servo_out = angle;
+	// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
+	calc_pwm();
+
+	return angle;
+}
+
+// map a function to a servo channel and output it
+void
+RC_Channel_aux::output_ch(unsigned char ch_nr)
+{
+	switch(function)
+	{
+	case k_none: 		// disabled
+		return;
+		break;
+	case k_manual:		// manual
+		radio_out = radio_in;
+		break;
+	case k_flap:		// flaps
+	case k_flap_auto:	// flaps automated
+	case k_aileron:		// aileron
+	case k_flaperon:	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
+	case k_mount_yaw:	// mount yaw (pan)
+	case k_mount_pitch:	// mount pitch (tilt)
+	case k_mount_roll:	// mount roll
+	case k_cam_trigger:	// camera trigger
+	case k_cam_open:	// camera open
+	case k_egg_drop:	// egg drop
+	case k_nr_aux_servo_functions: // dummy, just to avoid a compiler warning
+	default:
+		break;
+	}
+
+	APM_RC.OutputCh(ch_nr, radio_out);
+}

libraries/RC_Channel/RC_Channel_aux.h

@@ -0,0 +1,56 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	RC_Channel_aux.h
+/// @brief	RC_Channel manager, with EEPROM-backed storage of constants.
+/// @author Amilcar Lucas
+
+#ifndef RC_CHANNEL_AUX_H_
+#define RC_CHANNEL_AUX_H_
+
+#include "RC_Channel.h"
+
+/// @class	RC_Channel_aux
+/// @brief	Object managing one aux. RC channel (CH5-8), with information about its function
+/// 	    Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements
+class RC_Channel_aux : public RC_Channel{
+public:
+	/// Constructor
+	///
+	/// @param key      EEPROM storage key for the channel trim parameters.
+	/// @param name     Optional name for the group.
+	///
+	RC_Channel_aux(AP_Var::Key key, const prog_char_t *name) :
+		RC_Channel(key, name),
+		function  (&_group, 4,  k_none, name ? PSTR("FUNCTION")  : 0), // suppress name if group has no name
+		angle_min (&_group, 5, -4500, name ? PSTR("ANGLE_MIN") : 0), // assume -45 degrees min deflection
+		angle_max (&_group, 6,  4500, name ? PSTR("ANGLE_MAX") : 0)  // assume  45 degrees max deflection
+	{}
+
+	typedef enum
+	{
+		k_none			= 0,	// disabled
+		k_manual		= 1,	// manual, just pass-thru the RC in signal
+		k_flap			= 2,	// flap
+		k_flap_auto		= 3,	// flap automated
+		k_aileron		= 4,	// aileron
+		k_flaperon		= 5,	// flaperon (flaps and aileron combined, needs two independent servos one for each wing)
+		k_mount_yaw		= 6,	// mount yaw (pan)
+		k_mount_pitch	= 7,	// mount pitch (tilt)
+		k_mount_roll	= 8,	// mount roll
+		k_cam_trigger	= 9,	// camera trigger
+		k_cam_open		= 10,	// camera open
+		k_egg_drop		= 11,	// egg drop
+		k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
+	} Aux_servo_function_t;
+
+	AP_Int8 	function;	// 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop
+	AP_Int16 	angle_min;	// min angle limit of actuated surface in 0.01 degree units
+	AP_Int16 	angle_max;	// max angle limit of actuated surface in 0.01 degree units
+
+	int16_t closest_limit(int16_t angle);	// saturate to the closest angle limit if outside of min max angle interval
+
+	void output_ch(unsigned char ch_nr);	// map a function to a servo channel and output it
+
+};
+
+#endif /* RC_CHANNEL_AUX_H_ */