// read_3pos_switch
RC_Channel::aux_switch_pos_t RC_Channel::read_3pos_switch() const
{
const uint16_t in = get_radio_in();
if (in < AUX_PWM_TRIGGER_LOW) return LOW; // switch is in low position
if (in > AUX_PWM_TRIGGER_HIGH) return HIGH; // switch is in high position
return MIDDLE; // switch is in middle position
}
/// map a function to a servo channel and output it
void
RC_Channel_aux::output_ch(void)
{
// take care of two corner cases
switch(function)
{
case k_none: // disabled
return;
case k_manual: // manual
if (_disable_passthrough) {
set_radio_out(get_radio_trim());
} else {
set_radio_out(get_radio_in());
}
break;
case k_rcin1 ... k_rcin16: // rc pass-thru
if (_disable_passthrough) {
set_radio_out(get_radio_trim());
} else {
set_radio_out(hal.rcin->read(function-k_rcin1));
}
break;
case k_motor1 ... k_motor8:
// handled by AP_Motors::rc_write()
return;
}
hal.rcout->write(_ch_out, get_radio_out());
}
// read_3pos_switch
bool RC_Channel::read_3pos_switch(RC_Channel::aux_switch_pos_t &ret) const
{
const uint16_t in = get_radio_in();
if (in <= 900 or in >= 2200) {
return false;
}
if (in < AUX_PWM_TRIGGER_LOW) {
ret = LOW;
} else if (in > AUX_PWM_TRIGGER_HIGH) {
ret = HIGH;
} else {
ret = MIDDLE;
}
return true;
}
void RC_Channel::read_mode_switch()
{
// calculate position of flight mode switch
const uint16_t pulsewidth = get_radio_in();
if (pulsewidth <= 900 || pulsewidth >= 2200) {
return; // This is an error condition
}
modeswitch_pos_t position;
if (pulsewidth < 1231) position = 0;
else if (pulsewidth < 1361) position = 1;
else if (pulsewidth < 1491) position = 2;
else if (pulsewidth < 1621) position = 3;
else if (pulsewidth < 1750) position = 4;
else position = 5;
if (mode_switch_state.last_position == position) {
// nothing to do
return;
}
const uint32_t tnow_ms = AP_HAL::millis();
if (position != mode_switch_state.debounced_position) {
mode_switch_state.debounced_position = position;
// store time that switch last moved
mode_switch_state.last_edge_time_ms = tnow_ms;
return;
}
if (tnow_ms - mode_switch_state.last_edge_time_ms < MODE_SWITCH_DEBOUNCE_TIME_MS) {
// still in debounce
return;
}
// set flight mode and simple mode setting
mode_switch_changed(position);
// set the last switch position. This marks the
// transition as complete, even if the mode switch actually
// failed. This prevents the vehicle changing modes
// unexpectedly some time later.
mode_switch_state.last_position = position;
}