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171 lines
7.4 KiB
171 lines
7.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file RC_Channel_aux.h |
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/// @brief RC_Channel manager for auxiliary channels (5..8), with EEPROM-backed storage of constants. |
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/// @author Amilcar Lucas |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include "RC_Channel.h" |
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#define RC_AUX_MAX_CHANNELS 12 |
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/// @class RC_Channel_aux |
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/// @brief Object managing one aux. RC channel (CH5-8), with information about its function |
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class RC_Channel_aux : public RC_Channel { |
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public: |
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/// Constructor |
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/// |
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/// @param key EEPROM storage key for the channel trim parameters. |
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/// @param name Optional name for the group. |
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/// |
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RC_Channel_aux(uint8_t ch_out) : |
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RC_Channel(ch_out) |
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{ |
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for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) { |
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if (_aux_channels[i] == NULL) { |
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_aux_channels[i] = this; |
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break; |
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} |
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} |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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typedef enum |
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{ |
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k_none = 0, ///< disabled |
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k_manual = 1, ///< manual, just pass-thru the RC in signal |
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k_flap = 2, ///< flap |
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k_flap_auto = 3, ///< flap automated |
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k_aileron = 4, ///< aileron |
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k_unused1 = 5, ///< unused function |
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k_mount_pan = 6, ///< mount yaw (pan) |
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k_mount_tilt = 7, ///< mount pitch (tilt) |
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k_mount_roll = 8, ///< mount roll |
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k_mount_open = 9, ///< mount open (deploy) / close (retract) |
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k_cam_trigger = 10, ///< camera trigger |
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k_egg_drop = 11, ///< egg drop |
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k_mount2_pan = 12, ///< mount2 yaw (pan) |
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k_mount2_tilt = 13, ///< mount2 pitch (tilt) |
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k_mount2_roll = 14, ///< mount2 roll |
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k_mount2_open = 15, ///< mount2 open (deploy) / close (retract) |
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k_dspoiler1 = 16, ///< differential spoiler 1 (left wing) |
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k_dspoiler2 = 17, ///< differential spoiler 2 (right wing) |
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k_aileron_with_input = 18, ///< aileron, with rc input |
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k_elevator = 19, ///< elevator |
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k_elevator_with_input = 20, ///< elevator, with rc input |
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k_rudder = 21, ///< secondary rudder channel |
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k_sprayer_pump = 22, ///< crop sprayer pump channel |
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k_sprayer_spinner = 23, ///< crop sprayer spinner channel |
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k_flaperon1 = 24, ///< flaperon, left wing |
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k_flaperon2 = 25, ///< flaperon, right wing |
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k_steering = 26, ///< ground steering, used to separate from rudder |
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k_parachute_release = 27, ///< parachute release |
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k_epm = 28, ///< epm gripper |
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k_landing_gear_control = 29, ///< landing gear controller |
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k_engine_run_enable = 30, ///< engine kill switch, used for gas airplanes and helicopters |
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k_heli_rsc = 31, ///< helicopter RSC output |
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k_heli_tail_rsc = 32, ///< helicopter tail RSC output |
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k_motor1 = 33, ///< these allow remapping of copter motors |
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k_motor2 = 34, |
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k_motor3 = 35, |
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k_motor4 = 36, |
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k_motor5 = 37, |
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k_motor6 = 38, |
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k_motor7 = 39, |
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k_motor8 = 40, |
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k_motor_tilt = 41, ///< tiltrotor motor tilt control |
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k_rcin1 = 51, ///< these are for pass-thru from arbitrary rc inputs |
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k_rcin2 = 52, |
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k_rcin3 = 53, |
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k_rcin4 = 54, |
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k_rcin5 = 55, |
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k_rcin6 = 56, |
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k_rcin7 = 57, |
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k_rcin8 = 58, |
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k_rcin9 = 59, |
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k_rcin10 = 60, |
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k_rcin11 = 61, |
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k_rcin12 = 62, |
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k_rcin13 = 63, |
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k_rcin14 = 64, |
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k_rcin15 = 65, |
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k_rcin16 = 66, |
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k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one) |
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} Aux_servo_function_t; |
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AP_Int8 function; ///< see Aux_servo_function_t enum |
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// output one auxiliary channel |
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void output_ch(void); |
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// output all auxiliary channels |
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static void output_ch_all(void); |
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// set radio_out for a function channel |
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static void set_radio(Aux_servo_function_t function, int16_t value); |
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// set radio_out for all channels matching the given function type, allow radio_trim to center servo |
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static void set_radio_trimmed(Aux_servo_function_t function, int16_t value); |
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// set and save the trim for a function channel to radio_in |
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static void set_trim_to_radio_in_for(Aux_servo_function_t function); |
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// set radio_out to radio_min |
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static void set_radio_to_min(Aux_servo_function_t function); |
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// set radio_out to radio_max |
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static void set_radio_to_max(Aux_servo_function_t function); |
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// set radio_out to radio_trim |
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static void set_radio_to_trim(Aux_servo_function_t function); |
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// copy radio_in to radio_out |
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static void copy_radio_in_out(Aux_servo_function_t function, bool do_input_output=false); |
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// set servo_out |
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static void set_servo_out_for(Aux_servo_function_t function, int16_t value); |
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// setup failsafe for an auxiliary channel function, by pwm |
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static void set_servo_failsafe_pwm(RC_Channel_aux::Aux_servo_function_t function, uint16_t pwm); |
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// setup failsafe for an auxiliary channel function |
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static void set_servo_failsafe(Aux_servo_function_t function, RC_Channel::LimitValue limit); |
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// set servo to a LimitValue |
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static void set_servo_limit(Aux_servo_function_t function, RC_Channel::LimitValue limit); |
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// return true if a function is assigned to a channel |
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static bool function_assigned(Aux_servo_function_t function); |
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// set a servo_out value, and angle range, then calc_pwm |
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static void move_servo(Aux_servo_function_t function, |
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int16_t value, int16_t angle_min, int16_t angle_max); |
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static const struct AP_Param::GroupInfo var_info[]; |
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// assigned and enable auxiliary channels |
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static void enable_aux_servos(void); |
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// prevent a channel from being used for auxiliary functions |
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static void disable_aux_channel(uint8_t channel); |
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// return the current function for a channel |
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static Aux_servo_function_t channel_function(uint8_t channel); |
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// refresh aux servo to function mapping |
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static void update_aux_servo_function(void); |
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// set default channel for an auxiliary function |
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static bool set_aux_channel_default(Aux_servo_function_t function, uint8_t channel); |
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// find first channel that a function is assigned to |
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static bool find_channel(Aux_servo_function_t function, uint8_t &chan); |
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private: |
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static uint64_t _function_mask; |
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static bool _initialised; |
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static RC_Channel_aux *_aux_channels[RC_AUX_MAX_CHANNELS]; |
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void aux_servo_function_setup(void); |
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};
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