ArduPlane/RC_Channel.h

   1 #pragma once
   2
   3 #include <RC_Channel/RC_Channel.h>
   4
   5 class RC_Channel_Plane : public RC_Channel
   6 {
   7
   8 public:
   9
  10 protected:
  11
  12     void init_aux_function(AUX_FUNC ch_option,
  13                            AuxSwitchPos ch_flag) override;
  14     bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
  15
  16     // called when the mode switch changes position:
  17     void mode_switch_changed(modeswitch_pos_t new_pos) override;
  18
  19 private:
  20
  21     void do_aux_function_change_mode(Mode::Number number,
  22                                      AuxSwitchPos ch_flag);
  23
  24 #if HAL_QUADPLANE_ENABLED
  25     void do_aux_function_q_assist_state(AuxSwitchPos ch_flag);
  26 #endif
  27
  28     void do_aux_function_crow_mode(AuxSwitchPos ch_flag);
  29
  30     void do_aux_function_soaring_3pos(AuxSwitchPos ch_flag);
  31
  32     void do_aux_function_flare(AuxSwitchPos ch_flag);
  33
  34 };
  35
  36 class RC_Channels_Plane : public RC_Channels
  37 {
  38 public:
  39
  40     RC_Channel_Plane obj_channels[NUM_RC_CHANNELS];
  41     RC_Channel_Plane *channel(const uint8_t chan) override {
  42         if (chan >= NUM_RC_CHANNELS) {
  43             return nullptr;
  44         }
  45         return &obj_channels[chan];
  46     }
  47
  48     bool in_rc_failsafe() const override;
  49     bool has_valid_input() const override;
  50
  51     RC_Channel *get_arming_channel(void) const override;
  52
  53     void read_mode_switch() override;
  54
  55 protected:
  56
  57     // note that these callbacks are not presently used on Plane:
  58     int8_t flight_mode_channel_number() const override;
  59
  60 };