/home/jgoppert/Projects/ap/libraries/RC_Channel/RC_Channel.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-


#ifndef RC_Channel_h
#define RC_Channel_h

#include <stdint.h>
#include <AP_EEPROMB.h>

class RC_Channel{
  public:       
        RC_Channel() :
                _address(0)
        {}

        RC_Channel(uint16_t address) :
                _address(address),
                _high(1),
                _filter(true),
                _reverse(1)
        {}

        // setup min and max radio values in CLI
        void            update_min_max();
        void            zero_min_max();
        
        // startup
        void            load_eeprom(void);
        void            save_eeprom(void);              
        void            save_trim(void);                
        void            set_filter(bool filter);

        // setup the control preferences
        void            set_range(int low, int high);
        void            set_angle(int angle);
        void            set_reverse(bool reverse);

        // read input from APM_RC - create a control_in value
        void            set_pwm(int pwm);
        
        // pwm is stored here
        int16_t         radio_in;

        // call after first set_pwm
        void            trim();
        
        // did our read come in 50µs below the min?
        bool            get_failsafe(void);
        
        // value generated from PWM
        int16_t         control_in;
        int16_t         dead_zone; // used to keep noise down and create a dead zone.
        
        int                     control_mix(float value);
        
        // current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
        int16_t         servo_out;

        // generate PWM from servo_out value
        void            calc_pwm(void);

        // PWM is without the offset from radio_min
        int16_t         pwm_out;
        int16_t         radio_out;

        int16_t         radio_min;
        int16_t         radio_trim;
        int16_t         radio_max;
        
        // includes offset from PWM
        //int16_t       get_radio_out(void);

        int16_t         pwm_to_angle();
        float           norm_input();
        float           norm_output();
        int16_t         angle_to_pwm();
        int16_t         pwm_to_range();
        int16_t         range_to_pwm();

        float           scale_output;
        
  private:
        bool            _filter;
        int8_t          _reverse;

        int16_t         _address;                       
        bool            _type;                          
        int16_t         _high;
        int16_t         _low;
        AP_EEPROMB      _ee;
};

#endif