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61 lines
2.5 KiB
61 lines
2.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/// @file RC_Channel_aux.h |
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/// @brief RC_Channel manager for Channels 5..8, with EEPROM-backed storage of constants. |
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/// @author Amilcar Lucas |
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#ifndef RC_CHANNEL_AUX_H_ |
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#define RC_CHANNEL_AUX_H_ |
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#include "RC_Channel.h" |
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// Macro to simplify accessing the auxiliary servos |
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#define G_RC_AUX(_t) if (g_rc_function[RC_Channel_aux::_t]) g_rc_function[RC_Channel_aux::_t] |
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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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/// Also contains physical min,max angular deflection, to allow calibrating open-loop servo movements |
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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() : |
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RC_Channel(), |
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function (0), |
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angle_min (-4500), // assume -45 degrees min deflection |
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angle_max (4500) // assume 45 degrees max deflection |
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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_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing) |
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k_mount_yaw = 6, // mount yaw (pan) |
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k_mount_pitch = 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_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; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop |
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AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units |
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AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units |
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int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval |
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void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it |
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static const struct AP_Param::GroupInfo var_info[]; |
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}; |
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void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8); |
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function |
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#endif /* RC_CHANNEL_AUX_H_ */
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