#include <SRV_Channel.h>

Collaboration diagram for SRV_Channel:

Public Types
enum	Aux_servo_function_t { k_none = 0, k_manual = 1, k_flap = 2, k_flap_auto = 3, k_aileron = 4, k_unused1 = 5, k_mount_pan = 6, k_mount_tilt = 7, k_mount_roll = 8, k_mount_open = 9, k_cam_trigger = 10, k_egg_drop = 11, k_mount2_pan = 12, k_mount2_tilt = 13, k_mount2_roll = 14, k_mount2_open = 15, k_dspoilerLeft1 = 16, k_dspoilerRight1 = 17, k_aileron_with_input = 18, k_elevator = 19, k_elevator_with_input = 20, k_rudder = 21, k_sprayer_pump = 22, k_sprayer_spinner = 23, k_flaperon_left = 24, k_flaperon_right = 25, k_steering = 26, k_parachute_release = 27, k_gripper = 28, k_landing_gear_control = 29, k_engine_run_enable = 30, k_heli_rsc = 31, k_heli_tail_rsc = 32, k_motor1 = 33, 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, k_rcin1 = 51, 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_tracker_yaw = 71, k_tracker_pitch = 72, k_throttleLeft = 73, k_throttleRight = 74, k_tiltMotorLeft = 75, k_tiltMotorRight = 76, k_elevon_left = 77, k_elevon_right = 78, k_vtail_left = 79, k_vtail_right = 80, k_boost_throttle = 81, k_motor9 = 82, k_motor10 = 83, k_motor11 = 84, k_motor12 = 85, k_dspoilerLeft2 = 86, k_dspoilerRight2 = 87, k_winch = 88, k_nr_aux_servo_functions }

enum	LimitValue { SRV_CHANNEL_LIMIT_TRIM, SRV_CHANNEL_LIMIT_MIN, SRV_CHANNEL_LIMIT_MAX, SRV_CHANNEL_LIMIT_ZERO_PWM }

Public Member Functions
	SRV_Channel (void)

void	set_output_pwm (uint16_t pwm)

uint16_t	get_output_pwm (void) const

void	set_angle (int16_t angle)

void	set_range (uint16_t high)

bool	get_reversed (void) const

void	set_output_min (uint16_t pwm)

void	set_output_max (uint16_t pwm)

uint16_t	get_output_min (void) const

uint16_t	get_output_max (void) const

uint16_t	get_trim (void) const

SRV_Channel::Aux_servo_function_t	get_function (void) const

void	function_set_and_save (SRV_Channel::Aux_servo_function_t f)

void	reversed_set_and_save_ifchanged (bool r)

bool	function_configured (void) const

Static Public Member Functions
static bool	is_motor (SRV_Channel::Aux_servo_function_t function)

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

Private Types
typedef uint16_t	servo_mask_t

Private Member Functions
uint16_t	pwm_from_range (int16_t scaled_value) const

uint16_t	pwm_from_angle (int16_t scaled_value) const

void	calc_pwm (int16_t output_scaled)

void	output_ch (void)
	map a function to a servo channel and output it More...

void	aux_servo_function_setup (void)

uint16_t	get_limit_pwm (LimitValue limit) const

float	get_output_norm (void)

Private Attributes
AP_Int16	servo_min

AP_Int16	servo_max

AP_Int16	servo_trim

AP_Int8	reversed

AP_Int8	function

uint16_t	output_pwm

bool	type_angle:1

bool	type_setup:1

uint8_t	ch_num

uint16_t	high_out

Static Private Attributes
static servo_mask_t	have_pwm_mask

Friends
class	SRV_Channels

Detailed Description

Definition at line 33 of file SRV_Channel.h.

Member Typedef Documentation

◆ servo_mask_t

typedef uint16_t SRV_Channel::servo_mask_t

private

Definition at line 241 of file SRV_Channel.h.

Member Enumeration Documentation

◆ Aux_servo_function_t

enum SRV_Channel::Aux_servo_function_t

Enumerator
k_none	disabled
k_manual	manual, just pass-thru the RC in signal
k_flap	flap
k_flap_auto	flap automated
k_aileron	aileron
k_unused1	unused function
k_mount_pan	mount yaw (pan)
k_mount_tilt	mount pitch (tilt)
k_mount_roll	mount roll
k_mount_open	mount open (deploy) / close (retract)
k_cam_trigger	camera trigger
k_egg_drop	egg drop
k_mount2_pan	mount2 yaw (pan)
k_mount2_tilt	mount2 pitch (tilt)
k_mount2_roll	mount2 roll
k_mount2_open	mount2 open (deploy) / close (retract)
k_dspoilerLeft1	differential spoiler 1 (left wing)
k_dspoilerRight1	differential spoiler 1 (right wing)
k_aileron_with_input	aileron, with rc input, deprecated
k_elevator	elevator
k_elevator_with_input	elevator, with rc input, deprecated
k_rudder	secondary rudder channel
k_sprayer_pump	crop sprayer pump channel
k_sprayer_spinner	crop sprayer spinner channel
k_flaperon_left	flaperon, left wing
k_flaperon_right	flaperon, right wing
k_steering	ground steering, used to separate from rudder
k_parachute_release	parachute release
k_gripper	gripper
k_landing_gear_control	landing gear controller
k_engine_run_enable	engine kill switch, used for gas airplanes and helicopters
k_heli_rsc	helicopter RSC output
k_heli_tail_rsc	helicopter tail RSC output
k_motor1	these allow remapping of copter motors
k_motor2
k_motor3
k_motor4
k_motor5
k_motor6
k_motor7
k_motor8
k_motor_tilt	tiltrotor motor tilt control
k_rcin1	these are for pass-thru from arbitrary rc inputs
k_rcin2
k_rcin3
k_rcin4
k_rcin5
k_rcin6
k_rcin7
k_rcin8
k_rcin9
k_rcin10
k_rcin11
k_rcin12
k_rcin13
k_rcin14
k_rcin15
k_rcin16
k_ignition
k_choke
k_starter
k_throttle
k_tracker_yaw	antennatracker yaw
k_tracker_pitch	antennatracker pitch
k_throttleLeft
k_throttleRight
k_tiltMotorLeft	vectored thrust, left tilt
k_tiltMotorRight	vectored thrust, right tilt
k_elevon_left
k_elevon_right
k_vtail_left
k_vtail_right
k_boost_throttle	vertical booster throttle
k_motor9
k_motor10
k_motor11
k_motor12
k_dspoilerLeft2	differential spoiler 2 (left wing)
k_dspoilerRight2	differential spoiler 2 (right wing)
k_winch
k_nr_aux_servo_functions	This must be the last enum value (only add new values before this one)

Definition at line 42 of file SRV_Channel.h.

◆ LimitValue

enum SRV_Channel::LimitValue

Enumerator
SRV_CHANNEL_LIMIT_TRIM
SRV_CHANNEL_LIMIT_MIN
SRV_CHANNEL_LIMIT_MAX
SRV_CHANNEL_LIMIT_ZERO_PWM

Definition at line 128 of file SRV_Channel.h.

Constructor & Destructor Documentation

◆ SRV_Channel()

SRV_Channel::SRV_Channel ( void )

Definition at line 76 of file SRV_Channel.cpp.

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Member Function Documentation

◆ aux_servo_function_setup()

void SRV_Channel::aux_servo_function_setup ( void )

private

Definition at line 82 of file SRV_Channel_aux.cpp.

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◆ calc_pwm()

void SRV_Channel::calc_pwm ( int16_t output_scaled )

private

Definition at line 110 of file SRV_Channel.cpp.

Referenced by SRV_Channels::calc_pwm(), SRV_Channels::disable_passthrough(), and SRV_Channels::limit_slew_rate().

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◆ function_configured()

bool SRV_Channel::function_configured ( void ) const

inline

Definition at line 192 of file SRV_Channel.h.

◆ function_set_and_save()

void SRV_Channel::function_set_and_save ( SRV_Channel::Aux_servo_function_t f )

inline

Definition at line 180 of file SRV_Channel.h.

◆ get_function()

SRV_Channel::Aux_servo_function_t SRV_Channel::get_function ( void ) const

inline

Definition at line 175 of file SRV_Channel.h.

Referenced by AP_Arming::servo_checks().

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◆ get_limit_pwm()

uint16_t SRV_Channel::get_limit_pwm ( LimitValue limit ) const

private

Definition at line 169 of file SRV_Channel.cpp.

Referenced by SRV_Channels::set_failsafe_limit(), SRV_Channels::set_output_limit(), and SRV_Channels::set_safety_limit().

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◆ get_output_max()

uint16_t SRV_Channel::get_output_max ( void ) const

inline

Definition at line 164 of file SRV_Channel.h.

Referenced by AP_Motors::calc_pwm_output_0to1(), AP_Motors::calc_pwm_output_1to1(), AP_MotorsHeli::calc_pwm_output_1to1_swash_servo(), AP_MotorsTri::calc_yaw_radio_output(), SRV_Channels::limit_slew_rate(), AP_Arming::servo_checks(), SRV_Channels::set_esc_scaling_for(), SRV_Channels::set_output_pwm_trimmed(), and AP_Volz_Protocol::update().

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◆ get_output_min()

uint16_t SRV_Channel::get_output_min ( void ) const

inline

Definition at line 161 of file SRV_Channel.h.

Referenced by AP_Motors::calc_pwm_output_0to1(), AP_Motors::calc_pwm_output_1to1(), AP_MotorsHeli::calc_pwm_output_1to1_swash_servo(), AP_MotorsTri::calc_yaw_radio_output(), SRV_Channels::limit_slew_rate(), AP_Arming::servo_checks(), SRV_Channels::set_esc_scaling_for(), SRV_Channels::set_output_pwm_trimmed(), and AP_Volz_Protocol::update().

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◆ get_output_norm()

float SRV_Channel::get_output_norm ( void )

private

Definition at line 149 of file SRV_Channel.cpp.

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◆ get_output_pwm()

uint16_t SRV_Channel::get_output_pwm ( void ) const

inline

Definition at line 139 of file SRV_Channel.h.

Referenced by GCS_MAVLINK::send_servo_output_raw(), AP_SBusOut::update(), AP_Volz_Protocol::update(), and AP_Landing_Deepstall::verify_land().

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◆ get_reversed()

bool SRV_Channel::get_reversed ( void ) const

inline

Definition at line 148 of file SRV_Channel.h.

Referenced by AP_Motors::calc_pwm_output_0to1(), AP_Motors::calc_pwm_output_1to1(), AP_MotorsHeli::calc_pwm_output_1to1_swash_servo(), AP_MotorsTri::calc_yaw_radio_output(), get_output_norm(), SRV_Channels::move_servo(), and SRV_Channels::set_trim_to_min_for().

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◆ get_trim()

uint16_t SRV_Channel::get_trim ( void ) const

inline

Definition at line 167 of file SRV_Channel.h.

Referenced by AP_Motors::calc_pwm_output_1to1(), AP_MotorsHeli::calc_pwm_output_1to1_swash_servo(), AP_MotorsTri::calc_yaw_radio_output(), AP_MotorsTri::output_motor_mask(), AP_MotorsTri::output_to_motors(), AP_Arming::servo_checks(), and AP_ServoRelayEvents::update_events().

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◆ is_motor()

bool SRV_Channel::is_motor ( SRV_Channel::Aux_servo_function_t function )

static

Definition at line 185 of file SRV_Channel.cpp.

Referenced by get_trim().

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◆ output_ch()

void SRV_Channel::output_ch ( void )

private

map a function to a servo channel and output it

Definition at line 28 of file SRV_Channel_aux.cpp.

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◆ pwm_from_angle()

uint16_t SRV_Channel::pwm_from_angle ( int16_t scaled_value ) const

private

Definition at line 97 of file SRV_Channel.cpp.

Referenced by calc_pwm().

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◆ pwm_from_range()

uint16_t SRV_Channel::pwm_from_range ( int16_t scaled_value ) const

private

Definition at line 84 of file SRV_Channel.cpp.

Referenced by calc_pwm().

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◆ reversed_set_and_save_ifchanged()

void SRV_Channel::reversed_set_and_save_ifchanged ( bool r )

inline

Definition at line 185 of file SRV_Channel.h.

◆ set_angle()

void SRV_Channel::set_angle ( int16_t angle )

Definition at line 131 of file SRV_Channel.cpp.

Referenced by aux_servo_function_setup(), get_output_pwm(), AP_MotorsHeli_Single::init_outputs(), SRV_Channels::set_reversible_throttle(), and setup().

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◆ set_output_max()

void SRV_Channel::set_output_max ( uint16_t pwm )

inline

Definition at line 156 of file SRV_Channel.h.

Referenced by AP_MotorsHeli::reset_swash_servo(), and setup().

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◆ set_output_min()

void SRV_Channel::set_output_min ( uint16_t pwm )

inline

Definition at line 153 of file SRV_Channel.h.

Referenced by AP_MotorsHeli::reset_swash_servo(), and setup().

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◆ set_output_pwm()

void SRV_Channel::set_output_pwm ( uint16_t pwm )

Definition at line 124 of file SRV_Channel.cpp.

Referenced by calc_pwm(), AP_ServoRelayEvents::do_set_servo(), SRV_Channels::move_servo(), SRV_Channels::output_trim_all(), AP_Landing_Deepstall::override_servos(), SRV_Channels::set_output_limit(), SRV_Channels::set_output_pwm_chan(), and AP_ServoRelayEvents::update_events().

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◆ set_range()

void SRV_Channel::set_range ( uint16_t high )

Definition at line 139 of file SRV_Channel.cpp.

Referenced by aux_servo_function_setup(), get_output_pwm(), AP_MotorsHeli::reset_swash_servo(), SRV_Channels::set_reversible_throttle(), and setup().

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Friends And Related Function Documentation

◆ SRV_Channels

friend class SRV_Channels

friend

Definition at line 35 of file SRV_Channel.h.

Member Data Documentation

◆ ch_num

uint8_t SRV_Channel::ch_num

private

Definition at line 214 of file SRV_Channel.h.

Referenced by calc_pwm(), SRV_Channels::copy_radio_in_out(), SRV_Channels::copy_radio_in_out_mask(), SRV_Channels::enable_aux_servos(), SRV_Channels::limit_slew_rate(), output_ch(), SRV_Channels::set_failsafe_limit(), SRV_Channels::set_failsafe_pwm(), SRV_Channels::set_output_limit(), set_output_pwm(), SRV_Channels::set_rc_frequency(), SRV_Channels::set_safety_limit(), and SRV_Channels::SRV_Channels().

◆ function

AP_Int8 SRV_Channel::function

private

Definition at line 202 of file SRV_Channel.h.

Referenced by SRV_Channels::adjust_trim(), SRV_Channels::constrain_pwm(), SRV_Channels::limit_slew_rate(), SRV_Channels::move_servo(), SRV_Channels::set_failsafe_limit(), SRV_Channels::set_failsafe_pwm(), SRV_Channels::set_output_limit(), SRV_Channels::set_rc_frequency(), SRV_Channels::set_safety_limit(), and SRV_Channels::upgrade_parameters().

◆ have_pwm_mask

SRV_Channel::servo_mask_t SRV_Channel::have_pwm_mask

staticprivate

Definition at line 245 of file SRV_Channel.h.

Referenced by calc_pwm(), set_output_pwm(), SRV_Channels::set_output_scaled(), and SRV_Channel().

◆ high_out

uint16_t SRV_Channel::high_out

private

Definition at line 217 of file SRV_Channel.h.

Referenced by pwm_from_angle(), pwm_from_range(), set_angle(), and set_range().

◆ output_pwm

uint16_t SRV_Channel::output_pwm

private

Definition at line 205 of file SRV_Channel.h.

Referenced by SRV_Channels::constrain_pwm(), get_output_norm(), get_output_pwm(), SRV_Channels::limit_slew_rate(), output_ch(), set_output_pwm(), and SRV_Channels::set_trim_to_servo_out_for().

◆ reversed

AP_Int8 SRV_Channel::reversed

private

Definition at line 201 of file SRV_Channel.h.

Referenced by SRV_Channels::adjust_trim(), get_reversed(), pwm_from_angle(), pwm_from_range(), reversed_set_and_save_ifchanged(), SRV_Channels::upgrade_motors_servo(), and SRV_Channels::upgrade_parameters().

◆ servo_max

AP_Int16 SRV_Channel::servo_max

private

Definition at line 198 of file SRV_Channel.h.

Referenced by SRV_Channels::adjust_trim(), SRV_Channels::constrain_pwm(), get_limit_pwm(), get_output_max(), get_output_norm(), SRV_Channels::move_servo(), pwm_from_angle(), pwm_from_range(), set_output_max(), SRV_Channels::set_trim_to_min_for(), SRV_Channels::upgrade_motors_servo(), and SRV_Channels::upgrade_parameters().

◆ servo_min

AP_Int16 SRV_Channel::servo_min

private

Definition at line 197 of file SRV_Channel.h.

Referenced by SRV_Channels::adjust_trim(), SRV_Channels::constrain_pwm(), get_limit_pwm(), get_output_min(), get_output_norm(), SRV_Channels::move_servo(), pwm_from_angle(), pwm_from_range(), set_output_min(), SRV_Channels::set_trim_to_min_for(), SRV_Channels::upgrade_motors_servo(), and SRV_Channels::upgrade_parameters().

◆ servo_trim

AP_Int16 SRV_Channel::servo_trim

private

Definition at line 199 of file SRV_Channel.h.

Referenced by SRV_Channels::adjust_trim(), get_limit_pwm(), get_trim(), pwm_from_angle(), SRV_Channels::save_trim(), SRV_Channels::set_output_to_trim(), SRV_Channels::upgrade_motors_servo(), and SRV_Channels::upgrade_parameters().

◆ type_angle

bool SRV_Channel::type_angle

private

Definition at line 208 of file SRV_Channel.h.

Referenced by calc_pwm(), set_angle(), and set_range().

◆ type_setup

bool SRV_Channel::type_setup

private

Definition at line 211 of file SRV_Channel.h.

Referenced by aux_servo_function_setup(), set_angle(), and set_range().

◆ var_info

const AP_Param::GroupInfo SRV_Channel::var_info

static

Definition at line 40 of file SRV_Channel.h.

Referenced by SRV_Channel().

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

libraries/SRV_Channel/SRV_Channel.h
libraries/SRV_Channel/SRV_Channel.cpp
libraries/SRV_Channel/SRV_Channel_aux.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ servo_mask_t

Member Enumeration Documentation

◆ Aux_servo_function_t

◆ LimitValue

Constructor & Destructor Documentation

◆ SRV_Channel()

Member Function Documentation

◆ aux_servo_function_setup()

◆ calc_pwm()

◆ function_configured()

◆ function_set_and_save()

◆ get_function()

◆ get_limit_pwm()

◆ get_output_max()

◆ get_output_min()

◆ get_output_norm()

◆ get_output_pwm()

◆ get_reversed()

◆ get_trim()

◆ is_motor()

◆ output_ch()

◆ pwm_from_angle()

◆ pwm_from_range()

◆ reversed_set_and_save_ifchanged()

◆ set_angle()

◆ set_output_max()

◆ set_output_min()

◆ set_output_pwm()

◆ set_range()

Friends And Related Function Documentation

◆ SRV_Channels

Member Data Documentation

◆ ch_num

◆ function

◆ have_pwm_mask

◆ high_out

◆ output_pwm

◆ reversed

◆ servo_max

◆ servo_min

◆ servo_trim

◆ type_angle

◆ type_setup

◆ var_info