RC_Channel Class Reference

Object managing one RC channel. More...

#include <RC_Channel.h>

Collaboration diagram for RC_Channel:

Public Types
enum	LimitValue { RC_CHANNEL_LIMIT_TRIM, RC_CHANNEL_LIMIT_MIN, RC_CHANNEL_LIMIT_MAX }

Public Member Functions
	RC_Channel (void)
void	load_eeprom (void)
void	save_eeprom (void)
void	save_trim (void)
void	set_range (uint16_t high)
void	set_angle (uint16_t angle)
bool	get_reverse (void) const
void	set_default_dead_zone (int16_t dzone)
uint16_t	get_dead_zone (void) const
int16_t	get_control_mid () const
void	set_pwm (int16_t pwm)
void	recompute_pwm_no_deadzone ()
int16_t	pwm_to_angle_dz_trim (uint16_t dead_zone, uint16_t trim)
float	norm_input ()
float	norm_input_dz ()
uint8_t	percent_input ()
int16_t	pwm_to_range ()
int16_t	pwm_to_range_dz (uint16_t dead_zone)
uint16_t	read () const
void	input ()
bool	in_trim_dz ()
int16_t	get_radio_in () const
void	set_radio_in (int16_t val)
int16_t	get_control_in () const
void	set_control_in (int16_t val)
int16_t	get_control_in_zero_dz (void)
int16_t	get_radio_min () const
void	set_radio_min (int16_t val)
int16_t	get_radio_max () const
void	set_radio_max (int16_t val)
int16_t	get_radio_trim () const
void	set_radio_trim (int16_t val)
void	save_radio_trim ()
void	set_and_save_trim ()
void	set_and_save_radio_trim (int16_t val)
bool	min_max_configured () const

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
int16_t	pwm_to_angle ()
int16_t	pwm_to_angle_dz (uint16_t dead_zone)

Private Attributes
int16_t	radio_in
int16_t	control_in
AP_Int16	radio_min
AP_Int16	radio_trim
AP_Int16	radio_max
AP_Int8	reversed
AP_Int16	dead_zone
uint8_t	type_in
int16_t	high_in
uint8_t	ch_in

Static Private Attributes
static uint32_t	configured_mask

Friends
class	SRV_Channels
class	RC_Channels

Detailed Description

Object managing one RC channel.

Definition at line 15 of file RC_Channel.h.

Member Enumeration Documentation

LimitValue

enum RC_Channel::LimitValue

Enumerator
RC_CHANNEL_LIMIT_TRIM
RC_CHANNEL_LIMIT_MIN
RC_CHANNEL_LIMIT_MAX

Definition at line 23 of file RC_Channel.h.

Constructor & Destructor Documentation

RC_Channel()

RC_Channel::RC_Channel

(

void

)

Definition at line 80 of file RC_Channel.cpp.

Here is the call graph for this function:

Member Function Documentation

get_control_in()

int16_t RC_Channel::get_control_in ( ) const

inline

Definition at line 82 of file RC_Channel.h.

get_control_in_zero_dz()

int16_t RC_Channel::get_control_in_zero_dz

(

void

)

Definition at line 253 of file RC_Channel.cpp.

Referenced by set_control_in().

Here is the call graph for this function:

Here is the caller graph for this function:

get_control_mid()

int16_t RC_Channel::get_control_mid

(

)

const

Definition at line 143 of file RC_Channel.cpp.

Referenced by get_dead_zone().

Here is the caller graph for this function:

get_dead_zone()

uint16_t RC_Channel::get_dead_zone ( void  ) const

inline

Definition at line 39 of file RC_Channel.h.

Here is the call graph for this function:

get_radio_in()

int16_t RC_Channel::get_radio_in ( ) const

inline

Definition at line 79 of file RC_Channel.h.

Referenced by AP_Mount_Backend::angle_input(), AP_Tuning::check_input(), AP_Tuning::check_selector_switch(), SRV_Channels::copy_radio_in_out(), SRV_Channels::copy_radio_in_out_mask(), RC_Channels::get_radio_in(), SRV_Channel::output_ch(), and RC_Channels::rc_channel().

Here is the caller graph for this function:

get_radio_max()

int16_t RC_Channel::get_radio_max ( ) const

inline

Definition at line 91 of file RC_Channel.h.

Referenced by AP_Mount_Backend::angle_input(), AP_Arming::rc_calibration_checks(), and AP_Arming::rc_checks_copter_sub().

Here is the caller graph for this function:

get_radio_min()

int16_t RC_Channel::get_radio_min ( ) const

inline

Definition at line 88 of file RC_Channel.h.

Referenced by AP_Mount_Backend::angle_input(), AP_Arming::rc_calibration_checks(), and AP_Arming::rc_checks_copter_sub().

Here is the caller graph for this function:

get_radio_trim()

int16_t RC_Channel::get_radio_trim ( ) const

inline

Definition at line 94 of file RC_Channel.h.

Referenced by SRV_Channel::output_ch(), AP_Arming::rc_calibration_checks(), and AP_Arming::rc_checks_copter_sub().

Here is the caller graph for this function:

get_reverse()

bool RC_Channel::get_reverse

(

void

)

const

Definition at line 106 of file RC_Channel.cpp.

Referenced by AP_Mount_Backend::angle_input().

Here is the caller graph for this function:

in_trim_dz()

bool RC_Channel::in_trim_dz

(

)

Definition at line 333 of file RC_Channel.cpp.

Here is the call graph for this function:

input()

void RC_Channel::input

(

)

Definition at line 319 of file RC_Channel.cpp.

Referenced by get_dead_zone().

Here is the call graph for this function:

Here is the caller graph for this function:

load_eeprom()

void RC_Channel::load_eeprom

(

void

)

Definition at line 162 of file RC_Channel.cpp.

min_max_configured()

bool RC_Channel::min_max_configured

(

)

const

Definition at line 339 of file RC_Channel.cpp.

Referenced by AP_Arming::rc_checks_copter_sub(), and set_and_save_radio_trim().

Here is the caller graph for this function:

norm_input()

float RC_Channel::norm_input

(

)

Definition at line 264 of file RC_Channel.cpp.

Referenced by get_dead_zone().

Here is the call graph for this function:

Here is the caller graph for this function:

norm_input_dz()

float RC_Channel::norm_input_dz

(

)

Definition at line 283 of file RC_Channel.cpp.

Referenced by get_dead_zone().

Here is the call graph for this function:

Here is the caller graph for this function:

percent_input()

uint8_t RC_Channel::percent_input

(

)

Definition at line 303 of file RC_Channel.cpp.

Referenced by get_dead_zone().

Here is the caller graph for this function:

pwm_to_angle()

int16_t RC_Channel::pwm_to_angle ( )

private

Definition at line 215 of file RC_Channel.cpp.

Referenced by set_pwm().

Here is the call graph for this function:

Here is the caller graph for this function:

pwm_to_angle_dz()

int16_t RC_Channel::pwm_to_angle_dz ( uint16_t  dead_zone )

private

Definition at line 205 of file RC_Channel.cpp.

Referenced by get_control_in_zero_dz(), pwm_to_angle(), and recompute_pwm_no_deadzone().

Here is the call graph for this function:

Here is the caller graph for this function:

pwm_to_angle_dz_trim()

int16_t RC_Channel::pwm_to_angle_dz_trim	(	uint16_t	dead_zone,
		uint16_t	trim
	)

Definition at line 185 of file RC_Channel.cpp.

Referenced by get_dead_zone(), and pwm_to_angle_dz().

Here is the caller graph for this function:

pwm_to_range()

int16_t RC_Channel::pwm_to_range

(

)

Definition at line 247 of file RC_Channel.cpp.

Referenced by get_dead_zone(), and set_pwm().

Here is the call graph for this function:

Here is the caller graph for this function:

pwm_to_range_dz()

int16_t RC_Channel::pwm_to_range_dz

(

uint16_t

dead_zone

)

Definition at line 226 of file RC_Channel.cpp.

Referenced by get_control_in_zero_dz(), get_dead_zone(), pwm_to_range(), and recompute_pwm_no_deadzone().

Here is the call graph for this function:

Here is the caller graph for this function:

read()

uint16_t RC_Channel::read

(

void

)

const

Definition at line 325 of file RC_Channel.cpp.

Referenced by AnalogIn_ADS1115::_update(), SRV_Channels::copy_radio_in_out(), and get_dead_zone().

Here is the call graph for this function:

Here is the caller graph for this function:

recompute_pwm_no_deadzone()

void RC_Channel::recompute_pwm_no_deadzone

(

)

Definition at line 129 of file RC_Channel.cpp.

Referenced by get_dead_zone().

Here is the call graph for this function:

Here is the caller graph for this function:

save_eeprom()

void RC_Channel::save_eeprom

(

void

)

Definition at line 171 of file RC_Channel.cpp.

save_radio_trim()

void RC_Channel::save_radio_trim ( )

inline

Definition at line 96 of file RC_Channel.h.

save_trim()

void RC_Channel::save_trim

(

void

)

set_and_save_radio_trim()

void RC_Channel::set_and_save_radio_trim ( int16_t  val )

inline

Definition at line 101 of file RC_Channel.h.

Here is the call graph for this function:

set_and_save_trim()

void RC_Channel::set_and_save_trim ( )

inline

Definition at line 98 of file RC_Channel.h.

set_angle()

void RC_Channel::set_angle

(

uint16_t

angle

)

Definition at line 93 of file RC_Channel.cpp.

Referenced by setup().

Here is the caller graph for this function:

set_control_in()

void RC_Channel::set_control_in ( int16_t  val )

inline

Definition at line 83 of file RC_Channel.h.

Here is the call graph for this function:

set_default_dead_zone()

void RC_Channel::set_default_dead_zone

(

int16_t

dzone

)

Definition at line 100 of file RC_Channel.cpp.

Referenced by setup().

Here is the caller graph for this function:

set_pwm()

void RC_Channel::set_pwm

(

int16_t

pwm

)

Definition at line 113 of file RC_Channel.cpp.

Referenced by get_dead_zone(), and RC_Channels::read_input().

Here is the call graph for this function:

Here is the caller graph for this function:

set_radio_in()

void RC_Channel::set_radio_in ( int16_t  val )

inline

Definition at line 80 of file RC_Channel.h.

Referenced by SRV_Channels::set_output_limit().

Here is the caller graph for this function:

set_radio_max()

void RC_Channel::set_radio_max ( int16_t  val )

inline

Definition at line 92 of file RC_Channel.h.

set_radio_min()

void RC_Channel::set_radio_min ( int16_t  val )

inline

Definition at line 89 of file RC_Channel.h.

set_radio_trim()

void RC_Channel::set_radio_trim ( int16_t  val )

inline

Definition at line 95 of file RC_Channel.h.

set_range()

void RC_Channel::set_range

(

uint16_t

high

)

Definition at line 86 of file RC_Channel.cpp.

Referenced by setup().

Here is the caller graph for this function:

Friends And Related Function Documentation

RC_Channels

friend class RC_Channels

friend

Definition at line 18 of file RC_Channel.h.

SRV_Channels

friend class SRV_Channels

friend

Definition at line 17 of file RC_Channel.h.

Member Data Documentation

ch_in

uint8_t RC_Channel::ch_in

private

Definition at line 124 of file RC_Channel.h.

Referenced by input(), min_max_configured(), RC_Channels::RC_Channels(), and read().

configured_mask

uint32_t RC_Channel::configured_mask

staticprivate

Definition at line 127 of file RC_Channel.h.

Referenced by min_max_configured().

control_in

int16_t RC_Channel::control_in

private

Definition at line 111 of file RC_Channel.h.

Referenced by get_control_in(), recompute_pwm_no_deadzone(), set_control_in(), and set_pwm().

dead_zone

AP_Int16 RC_Channel::dead_zone

private

Definition at line 118 of file RC_Channel.h.

Referenced by get_control_mid(), get_dead_zone(), in_trim_dz(), load_eeprom(), norm_input_dz(), pwm_to_angle(), pwm_to_range(), save_eeprom(), and set_default_dead_zone().

high_in

int16_t RC_Channel::high_in

private

Definition at line 121 of file RC_Channel.h.

Referenced by get_control_mid(), pwm_to_angle_dz_trim(), pwm_to_range_dz(), set_angle(), and set_range().

radio_in

int16_t RC_Channel::radio_in

private

Definition at line 108 of file RC_Channel.h.

Referenced by get_radio_in(), in_trim_dz(), input(), norm_input(), norm_input_dz(), percent_input(), pwm_to_angle_dz_trim(), pwm_to_range_dz(), set_and_save_trim(), set_pwm(), and set_radio_in().

radio_max

AP_Int16 RC_Channel::radio_max

private

Definition at line 115 of file RC_Channel.h.

Referenced by get_control_mid(), get_radio_max(), load_eeprom(), min_max_configured(), norm_input(), norm_input_dz(), percent_input(), pwm_to_angle_dz_trim(), pwm_to_range_dz(), save_eeprom(), set_radio_max(), and SRV_Channels::upgrade_parameters().

radio_min

AP_Int16 RC_Channel::radio_min

private

Definition at line 113 of file RC_Channel.h.

Referenced by get_control_mid(), get_radio_min(), load_eeprom(), min_max_configured(), norm_input(), norm_input_dz(), percent_input(), pwm_to_angle_dz_trim(), pwm_to_range_dz(), save_eeprom(), set_radio_min(), and SRV_Channels::upgrade_parameters().

radio_trim

AP_Int16 RC_Channel::radio_trim

private

Definition at line 114 of file RC_Channel.h.

Referenced by get_radio_trim(), in_trim_dz(), load_eeprom(), norm_input(), norm_input_dz(), pwm_to_angle_dz(), save_eeprom(), save_radio_trim(), set_and_save_radio_trim(), set_and_save_trim(), set_radio_trim(), and SRV_Channels::upgrade_parameters().

reversed

AP_Int8 RC_Channel::reversed

private

Definition at line 117 of file RC_Channel.h.

Referenced by get_control_mid(), get_reverse(), load_eeprom(), norm_input(), norm_input_dz(), percent_input(), pwm_to_angle_dz_trim(), pwm_to_range_dz(), save_eeprom(), and SRV_Channels::upgrade_parameters().

type_in

uint8_t RC_Channel::type_in

private

Definition at line 120 of file RC_Channel.h.

Referenced by get_control_in_zero_dz(), get_control_mid(), recompute_pwm_no_deadzone(), set_angle(), set_pwm(), and set_range().

var_info

const AP_Param::GroupInfo RC_Channel::var_info

static

Definition at line 74 of file RC_Channel.h.

Referenced by RC_Channel().

---

The documentation for this class was generated from the following files:

• libraries/RC_Channel/RC_Channel.h
• libraries/RC_Channel/RC_Channel.cpp