Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RCMapper_config.h"
       4             : 
       5             : #if AP_RCMAPPER_ENABLED
       6             : 
       7             : #include <inttypes.h>
       8             : #include <AP_Common/AP_Common.h>
       9             : #include <AP_Param/AP_Param.h>
      10             : 
      11             : class RCMapper {
      12             : public:
      13             :     RCMapper();
      14             : 
      15             :     /* Do not allow copies */
      16             :     CLASS_NO_COPY(RCMapper);
      17             : 
      18             :     // get singleton instance
      19      313971 :     static RCMapper *get_singleton()
      20             :     {
      21      313971 :         return _singleton;
      22             :     }
      23             : 
      24             :     /// roll - return input channel number for roll / aileron input
      25       77247 :     uint8_t roll() const { return _ch_roll; }
      26             : 
      27             :     /// pitch - return input channel number for pitch / elevator input
      28       64129 :     uint8_t pitch() const { return _ch_pitch; }
      29             : 
      30             :     /// throttle - return input channel number for throttle input
      31       95490 :     uint8_t throttle() const { return _ch_throttle; }
      32             : 
      33             :     /// yaw - return input channel number for yaw / rudder input
      34       76939 :     uint8_t yaw() const { return _ch_yaw; }
      35             : 
      36             :     /// forward - return input channel number for forward input
      37          83 :     uint8_t forward() const { return _ch_forward; }
      38             : 
      39             :     /// lateral - return input channel number for lateral input
      40          83 :     uint8_t lateral() const { return _ch_lateral; }
      41             : 
      42             :     static const struct AP_Param::GroupInfo var_info[];
      43             : 
      44             : private:
      45             :     // channel mappings
      46             :     AP_Int8 _ch_roll;
      47             :     AP_Int8 _ch_pitch;
      48             :     AP_Int8 _ch_yaw;
      49             :     AP_Int8 _ch_throttle;
      50             :     AP_Int8 _ch_forward;
      51             :     AP_Int8 _ch_lateral;
      52             :     static RCMapper *_singleton;
      53             : };
      54             : 
      55             : namespace AP
      56             : {
      57             : RCMapper *rcmap();
      58             : };
      59             : 
      60             : #endif  // AP_RCMAPPER_ENABLED