Cleanup of AP_RcChannel, removed scaled class.

libraries/APO/AP_RcChannel.cpp

@@ -20,12 +20,13 @@ namespace apo {
 AP_RcChannel::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, const bool & reverse) :
+		const rcMode_t & rcMode, const bool & reverse, const float & scale) :
 	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")),
 			_reverse(this, 5, reverse, PSTR("rev")),
+			_scale(scale == 0 ? AP_Float(0) : AP_Float(this,6,reverse,PSTR("scale"))),
 			_rcMode(rcMode), _rc(rc), _pwm(pwmNeutral) {
 	//Serial.print("pwm after ctor: "); Serial.println(pwmNeutral);
 	if (rcMode == RC_MODE_IN)

libraries/APO/AP_RcChannel.h

@@ -28,16 +28,16 @@ public:
 			const uint8_t & ch, const uint16_t & pwmMin,
 			const uint16_t & pwmNeutral, const uint16_t & pwmMax,
 			const rcMode_t & rcMode,
-			const bool & reverse);
+			const bool & reverse, const float & scale = 0);
 
 	// configuration
 	AP_Uint8 _ch;
 	AP_Uint16 _pwmMin;
 	AP_Uint16 _pwmNeutral;
 	AP_Uint16 _pwmMax;
-	AP_Uint8 _deg2mPwm;
 	rcMode_t _rcMode;
 	AP_Bool _reverse;
+	AP_Float _scale;
 
 	// get
 	uint16_t getPwm() {
@@ -50,6 +50,9 @@ public:
 	float getRadioPosition() {
 		return _pwmToPosition(getRadioPwm());
 	}
+	float getScaled() {
+		return _scale*getPwm();
+	}
 
 	// set
 	void setUsingRadio() {
@@ -59,7 +62,10 @@ public:
 	void setPosition(float position) {
 		setPwm(_positionToPwm(position));
 	}
-
+	void setScaled(float val) {
+		setPwm(val/_scale);
+	}
+	
 protected:
 
 	// configuration
@@ -73,27 +79,6 @@ protected:
 	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