/// de-activate the trigger after some delay, but without using a delay() function
void
AP_Camera::trigger_pic_cleanup()
{
if (keep_cam_trigg_active_cycles)
{
keep_cam_trigg_active_cycles --;
}
else
{
switch (trigger_type)
{
case 0:
case 2:
case 3:
G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
break;
case 1:
relay.off();
break;
case 4:
digitalWrite(camtrig, LOW);
break;
}
}
}
// Update the g_rc_function array of pointers to rc_x channels
// This is to be done before rc_init so that the channels get correctly initialized.
// It also should be called periodically because the user might change the configuration and
// expects the changes to take effect instantly
void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8)
{
// positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function
RC_Channel_aux::Aux_servo_function_t aux_servo_function[NUM_CHANNELS]; // the function of the aux. servos
aux_servo_function[CH_5] = (RC_Channel_aux::Aux_servo_function_t)rc_5->function.get();
aux_servo_function[CH_6] = (RC_Channel_aux::Aux_servo_function_t)rc_6->function.get();
aux_servo_function[CH_7] = (RC_Channel_aux::Aux_servo_function_t)rc_7->function.get();
aux_servo_function[CH_8] = (RC_Channel_aux::Aux_servo_function_t)rc_8->function.get();
for (uint8_t i = 0; i < NUM_CHANNELS; i++) {
if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {
// invalid setting
aux_servo_function[i] = RC_Channel_aux::k_none;
}
}
// Assume that no auxiliary function is used
for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions ; i++)
{
g_rc_function[i] = NULL;
}
// assign the RC channel to each function
g_rc_function[aux_servo_function[CH_5]] = rc_5;
g_rc_function[aux_servo_function[CH_6]] = rc_6;
g_rc_function[aux_servo_function[CH_7]] = rc_7;
g_rc_function[aux_servo_function[CH_8]] = rc_8;
//set auxiliary ranges
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(4500);
G_RC_AUX(k_flaperon)->set_range(0,100);
G_RC_AUX(k_mount_yaw)->set_range(
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max / 10);
G_RC_AUX(k_mount_pitch)->set_range(
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
G_RC_AUX(k_mount_roll)->set_range(
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
G_RC_AUX(k_mount_open)->set_range(0,100);
}
/// Update the g_rc_function array of pointers to rc_x channels
/// This is to be done before rc_init so that the channels get correctly initialized.
/// It also should be called periodically because the user might change the configuration and
/// expects the changes to take effect instantly
/// Supports up to seven aux servo outputs (typically CH5 ... CH11)
/// All servos must be configured with a single call to this function
/// (do not call this twice with different parameters, the second call will reset the effect of the first call)
void update_aux_servo_function( RC_Channel_aux* rc_a,
RC_Channel_aux* rc_b,
RC_Channel_aux* rc_c,
RC_Channel_aux* rc_d,
RC_Channel_aux* rc_e,
RC_Channel_aux* rc_f,
RC_Channel_aux* rc_g)
{
RC_Channel_aux::Aux_servo_function_t aux_servo_function[7];
aux_servo_function[0] = (rc_a == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_a->function.get();
aux_servo_function[1] = (rc_b == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_b->function.get();
aux_servo_function[2] = (rc_c == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_c->function.get();
aux_servo_function[3] = (rc_d == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_d->function.get();
aux_servo_function[4] = (rc_e == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_e->function.get();
aux_servo_function[5] = (rc_f == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_f->function.get();
aux_servo_function[6] = (rc_g == NULL) ? RC_Channel_aux::k_none : (RC_Channel_aux::Aux_servo_function_t)rc_g->function.get();
for (uint8_t i = 0; i < 7; i++) {
if (aux_servo_function[i] >= RC_Channel_aux::k_nr_aux_servo_functions) {
// invalid setting
aux_servo_function[i] = RC_Channel_aux::k_none;
}
}
// Assume that no auxiliary function is used
for (uint8_t i = 0; i < RC_Channel_aux::k_nr_aux_servo_functions; i++)
{
g_rc_function[i] = NULL;
}
// assign the RC channel to each function
if( rc_a != NULL ) { g_rc_function[aux_servo_function[0]] = rc_a; }
if( rc_b != NULL ) { g_rc_function[aux_servo_function[1]] = rc_b; }
if( rc_c != NULL ) { g_rc_function[aux_servo_function[2]] = rc_c; }
if( rc_d != NULL ) { g_rc_function[aux_servo_function[3]] = rc_d; }
if( rc_e != NULL ) { g_rc_function[aux_servo_function[4]] = rc_e; }
if( rc_f != NULL ) { g_rc_function[aux_servo_function[5]] = rc_f; }
if( rc_g != NULL ) { g_rc_function[aux_servo_function[6]] = rc_g; }
//set auxiliary ranges
G_RC_AUX(k_flap)->set_range(0,100);
G_RC_AUX(k_flap_auto)->set_range(0,100);
G_RC_AUX(k_aileron)->set_angle(4500);
G_RC_AUX(k_flaperon)->set_range(0,100);
/*
* G_RC_AUX(k_mount_pan)->set_range(
* g_rc_function[RC_Channel_aux::k_mount_pan]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_mount_pan]->angle_max / 10);
* G_RC_AUX(k_mount_tilt)->set_range(
* g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_mount_tilt]->angle_max / 10);
* G_RC_AUX(k_mount_roll)->set_range(
* g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
* G_RC_AUX(k_mount_open)->set_range(0,100);
* G_RC_AUX(k_cam_trigger)->set_range(
* g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
* g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
*/
G_RC_AUX(k_egg_drop)->set_range(0,100);
}