Internalized APM_RC in AP_RcChannel

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1277 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_RcChannel/AP_RcChannel.cpp

@@ -14,11 +14,9 @@
 #include "AP_RcChannel.h"
 #include <AP_Common.h>
 
-void AP_RcChannel::readRadio(uint16_t pwmRadio) {
+void AP_RcChannel::readRadio() {
 	// apply reverse
-	if(_reverse) _pwmRadio = (_pwmNeutral - pwmRadio) + _pwmNeutral;
-	else _pwmRadio = pwmRadio;
-
+	uint16_t pwmRadio = APM_RC.InputCh(_ch);
 	setPwm(pwmRadio);
 }
 
@@ -48,6 +46,7 @@ AP_RcChannel::setPwm(uint16_t pwm)
 	_pwm = (abs(_pwm - _pwmNeutral) < _pwmDeadZone) ? _pwmNeutral : _pwm;
 
 	//Serial.printf("pwm after deadzone: %d\n", _pwm);
+	APM_RC.OutputCh(_ch,_pwm);
 }
 
 void
@@ -59,10 +58,11 @@ AP_RcChannel::setPosition(float position)
 void
 AP_RcChannel::mixRadio(uint16_t infStart)
 {
-	float inf = abs( int16_t(_pwmRadio - _pwmNeutral) );
+	uint16_t pwmRadio = APM_RC.InputCh(_ch);
+	float inf = abs( int16_t(pwmRadio - _pwmNeutral) );
 	inf = min(inf, infStart);
 	inf = ((infStart - inf) /infStart);
-	setPwm(_pwm*inf + _pwmRadio); 
+	setPwm(_pwm*inf + pwmRadio); 
 }
 
 uint16_t

libraries/AP_RcChannel/AP_RcChannel.h

@@ -8,6 +8,7 @@
 
 #include <stdint.h>
 #include <FastSerial.h>
+#include <APM_RC.h>
 
 /// @class	AP_RcChannel
 /// @brief	Object managing one RC channel
@@ -18,30 +19,31 @@ public:
 
 	/// Constructor
 	///
-	AP_RcChannel(const float & scale, const uint16_t & pwmMin, const uint16_t & pwmNeutral,
+	AP_RcChannel(const APM_RC_Class & rc, const uint16_t & ch,
+			const float & scale, const uint16_t & pwmMin, const uint16_t & pwmNeutral,
 			const uint16_t & pwmMax, const uint16_t & pwmDeadZone,
 			const bool & filter, const bool & reverse) :
+		_rc(rc),
+		_ch(ch),
 		_scale(scale),
 		_pwmMin(pwmMin),
 		_pwmMax(pwmMax),
 		_pwmNeutral(pwmNeutral),
 		_pwmDeadZone(pwmDeadZone),
 		_pwm(0),
-		_pwmRadio(0),
 		_filter(filter),
 		_reverse(reverse)
 	{
 	}
 
 	// set servo state
-	void readRadio(uint16_t pwmRadio);
+	void readRadio();
 	void setPwm(uint16_t pwm);
 	void setPosition(float position);
 	void mixRadio(uint16_t infStart);
 
 	// get servo state
 	uint16_t getPwm() { return _pwm; }
-	uint16_t getPwmRadio() { return _pwmRadio; }
 	float getPosition() { return _pwmToPosition(_pwm); }
 	float getNormalized() { return getPosition()/_scale; }
 	
@@ -51,6 +53,8 @@ public:
 private:
 
 	// configuration
+	const APM_RC_Class & _rc;
+	const uint16_t _ch;
 	const float & _scale;
 	const uint16_t & _pwmMin;
 	const uint16_t & _pwmNeutral;
@@ -60,8 +64,7 @@ private:
 	const bool & _reverse;
 
 	// internal states
-	uint16_t _pwm; // this is the internal state, positino is just created when needed
-	uint16_t _pwmRadio; // radio pwm input
+	uint16_t _pwm; // this is the internal state, position is just created when needed
 
 	// private methods
 	uint16_t _positionToPwm(const float & position);

libraries/AP_RcChannel/examples/AP_RcChannel/AP_RcChannel.pde

@@ -7,7 +7,6 @@
 
 #include <FastSerial.h>
 #include <AP_Common.h>
-#include <APM_RC.h> 		// ArduPilot Mega RC Library
 #include <AP_RcChannel.h> 	// ArduPilot Mega RC Library
 #include <AP_EEProm.h>
 
@@ -27,7 +26,7 @@ FastSerialPort0(Serial);
 
 AP_RcChannel rc[] = 
 {
-	AP_RcChannel(scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(),
+	AP_RcChannel(APM_RC,CH_1,scale.get(),pwmMin.get(),pwmNeutral.get(),pwmMax.get(),
 			pwmDeadZone.get(),filter.get(),reverse.get())	
 
 };
@@ -46,8 +45,8 @@ void setup()
 	delay(2000);
 
 	// find neutral radio position
-	rc[CH_1].readRadio(APM_RC.InputCh(CH_1));
-	Serial.printf("\nrc[CH_1].readRadio(APM_RC.InputCh(CH_1))\n");
+	rc[CH_1].readRadio();
+	Serial.printf("\nrc[CH_1].readRadio()\n");
 	Serial.printf("\npwmNeutral.set(rc[CH_1].getPwm())\n");
 	pwmNeutral.set(rc[CH_1].getPwm());
 	delay(2000);