/// @file RC_Channel_aux.h
/// @brief RC_Channel manager for auxiliary channels (5..8), with EEPROM-backed storage of constants.
/// @author Amilcar Lucas
#pragma once
#include <AP_HAL/AP_HAL.h>
#include "RC_Channel.h"
#define RC_AUX_MAX_CHANNELS 12
/// @class RC_Channel_aux
/// @brief Object managing one aux. RC channel (CH5-8), with information about its function
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(uint8_t ch_out) :
RC_Channel(ch_out)
{
for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] == nullptr) {
_aux_channels[i] = this;
break;
}
}
AP_Param::setup_object_defaults(this, var_info);
}
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_unused1 = 5, ///< unused function
k_mount_pan = 6, ///< mount yaw (pan)
k_mount_tilt = 7, ///< mount pitch (tilt)
k_mount_roll = 8, ///< mount roll
k_mount_open = 9, ///< mount open (deploy) / close (retract)
k_cam_trigger = 10, ///< camera trigger
k_egg_drop = 11, ///< egg drop
k_mount2_pan = 12, ///< mount2 yaw (pan)
k_mount2_tilt = 13, ///< mount2 pitch (tilt)
k_mount2_roll = 14, ///< mount2 roll
k_mount2_open = 15, ///< mount2 open (deploy) / close (retract)
k_dspoiler1 = 16, ///< differential spoiler 1 (left wing)
k_dspoiler2 = 17, ///< differential spoiler 2 (right wing)
k_aileron_with_input = 18, ///< aileron, with rc input
k_elevator = 19, ///< elevator
k_elevator_with_input = 20, ///< elevator, with rc input
k_rudder = 21, ///< secondary rudder channel
k_sprayer_pump = 22, ///< crop sprayer pump channel
k_sprayer_spinner = 23, ///< crop sprayer spinner channel
k_flaperon1 = 24, ///< flaperon, left wing
k_flaperon2 = 25, ///< flaperon, right wing
k_steering = 26, ///< ground steering, used to separate from rudder
k_parachute_release = 27, ///< parachute release
k_gripper = 28, ///< gripper
k_landing_gear_control = 29, ///< landing gear controller
k_engine_run_enable = 30, ///< engine kill switch, used for gas airplanes and helicopters
k_heli_rsc = 31, ///< helicopter RSC output
k_heli_tail_rsc = 32, ///< helicopter tail RSC output
k_motor1 = 33, ///< these allow remapping of copter motors
k_motor2 = 34,
k_motor3 = 35,
k_motor4 = 36,
k_motor5 = 37,
k_motor6 = 38,
k_motor7 = 39,
k_motor8 = 40,
k_motor_tilt = 41, ///< tiltrotor motor tilt control
k_rcin1 = 51, ///< these are for pass-thru from arbitrary rc inputs
k_rcin2 = 52,
k_rcin3 = 53,
k_rcin4 = 54,
k_rcin5 = 55,
k_rcin6 = 56,
k_rcin7 = 57,
k_rcin8 = 58,
k_rcin9 = 59,
k_rcin10 = 60,
k_rcin11 = 61,
k_rcin12 = 62,
k_rcin13 = 63,
k_rcin14 = 64,
k_rcin15 = 65,
k_rcin16 = 66,
k_ignition = 67,
k_choke = 68,
k_starter = 69,
k_throttle = 70,
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; ///< see Aux_servo_function_t enum
// output one auxiliary channel
void output_ch(void);
// output all auxiliary channels
static void output_ch_all(void);
// set radio_out for a function channel
static void set_radio(Aux_servo_function_t function, int16_t value);
// set radio_out for all channels matching the given function type, allow radio_trim to center servo
static void set_radio_trimmed(Aux_servo_function_t function, int16_t value);
// set and save the trim for a function channel to radio_in
static void set_trim_to_radio_in_for(Aux_servo_function_t function);
// set radio_out to radio_min
static void set_radio_to_min(Aux_servo_function_t function);
// set radio_out to radio_max
static void set_radio_to_max(Aux_servo_function_t function);
// set radio_out to radio_trim
static void set_radio_to_trim(Aux_servo_function_t function);
// copy radio_in to radio_out
static void copy_radio_in_out(Aux_servo_function_t function, bool do_input_output=false);
// set servo_out
static void set_servo_out_for(Aux_servo_function_t function, int16_t value);
// setup failsafe for an auxiliary channel function, by pwm
static void set_servo_failsafe_pwm(RC_Channel_aux::Aux_servo_function_t function, uint16_t pwm);
// setup failsafe for an auxiliary channel function
static void set_servo_failsafe(Aux_servo_function_t function, RC_Channel::LimitValue limit);
// set servo to a LimitValue
static void set_servo_limit(Aux_servo_function_t function, RC_Channel::LimitValue limit);
// return true if a function is assigned to a channel
static bool function_assigned(Aux_servo_function_t function);
// set a servo_out value, and angle range, then calc_pwm
static void move_servo(Aux_servo_function_t function,
int16_t value, int16_t angle_min, int16_t angle_max);
static const struct AP_Param::GroupInfo var_info[];
// assigned and enable auxiliary channels
static void enable_aux_servos(void);
// prevent a channel from being used for auxiliary functions
static void disable_aux_channel(uint8_t channel);
// return the current function for a channel
static Aux_servo_function_t channel_function(uint8_t channel);
// refresh aux servo to function mapping
static void update_aux_servo_function(void);
// set default channel for an auxiliary function
static bool set_aux_channel_default(Aux_servo_function_t function, uint8_t channel);
// find first channel that a function is assigned to
static bool find_channel(Aux_servo_function_t function, uint8_t &chan);
// control pass-thru of channels
static void disable_passthrough(bool disable) {
_disable_passthrough = disable;
}
private:
static uint64_t _function_mask[2];
static bool _initialised;
static RC_Channel_aux *_aux_channels[RC_AUX_MAX_CHANNELS];
static bool _disable_passthrough;
void aux_servo_function_setup(void);
static void set_function_mask(uint8_t function);
static void clear_function_mask(void);
};