Line data    Source code

       1             : #include "AP_RCMapper_config.h"
       2             : 
       3             : #if AP_RCMAPPER_ENABLED
       4             : 
       5             : #include <AP_HAL/AP_HAL.h>
       6             : #include "AP_RCMapper.h"
       7             : 
       8             : const AP_Param::GroupInfo RCMapper::var_info[] = {
       9             :     // @Param: ROLL
      10             :     // @DisplayName: Roll channel
      11             :     // @Description: Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect.
      12             :     // @Range: 1 16
      13             :     // @Increment: 1
      14             :     // @User: Advanced
      15             :     // @RebootRequired: True
      16             :     AP_GROUPINFO("ROLL",        0, RCMapper, _ch_roll, 1),
      17             : 
      18             :     // @Param: PITCH
      19             :     // @DisplayName: Pitch channel
      20             :     // @Description: Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect.
      21             :     // @Range: 1 16
      22             :     // @Increment: 1
      23             :     // @User: Advanced
      24             :     // @RebootRequired: True
      25             :     AP_GROUPINFO("PITCH",       1, RCMapper, _ch_pitch, 2),
      26             : 
      27             :     // @Param: THROTTLE
      28             :     // @DisplayName: Throttle channel
      29             :     // @Description: Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
      30             :     // @Range: 1 16
      31             :     // @Increment: 1
      32             :     // @User: Advanced
      33             :     // @RebootRequired: True
      34             :     AP_GROUPINFO("THROTTLE",    2, RCMapper, _ch_throttle, 3),
      35             : 
      36             :     // @Param: YAW
      37             :     // @DisplayName: Yaw channel
      38             :     // @Description: Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter.  Reboot is required for changes to take effect.
      39             :     // @Range: 1 16
      40             :     // @Increment: 1
      41             :     // @User: Advanced
      42             :     // @RebootRequired: True
      43             :     AP_GROUPINFO("YAW",         3, RCMapper, _ch_yaw, 4),
      44             : 
      45             :     // @Param{Sub}: FORWARD
      46             :     // @DisplayName: Forward channel
      47             :     // @Description: Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
      48             :     // @Range: 1 16
      49             :     // @Increment: 1
      50             :     // @User: Advanced
      51             :     // @RebootRequired: True
      52             :     AP_GROUPINFO_FRAME("FORWARD",    4, RCMapper, _ch_forward, 6, AP_PARAM_FRAME_SUB),
      53             : 
      54             :     // @Param{Sub}: LATERAL
      55             :     // @DisplayName: Lateral channel
      56             :     // @Description: Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
      57             :     // @Range: 1 16
      58             :     // @Increment: 1
      59             :     // @User: Advanced
      60             :     // @RebootRequired: True
      61             :     AP_GROUPINFO_FRAME("LATERAL",    5, RCMapper, _ch_lateral, 7, AP_PARAM_FRAME_SUB),
      62             : 
      63             :     AP_GROUPEND
      64             : };
      65             : 
      66             : // singleton instance
      67             : RCMapper *RCMapper::_singleton;
      68             : 
      69             : // object constructor.
      70        2061 : RCMapper::RCMapper(void)
      71             : {
      72        2061 :     if (_singleton != nullptr) {
      73           0 :         AP_HAL::panic("RCMapper must be singleton");
      74             :     }
      75        2061 :     AP_Param::setup_object_defaults(this, var_info);
      76        2061 :     _singleton = this;
      77        2061 : }
      78             : 
      79      313971 : RCMapper *AP::rcmap() {
      80      313971 :     return RCMapper::get_singleton();
      81             : }
      82             : 
      83             : #endif  // AP_RCMAPPER_ENABLED