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Fetch RPTY channels directly from AP::rc() rather than asking RCMap first #28089

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Fetch RPTY channels directly from AP::rc() rather than asking RCMap first #28089

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4bd2a9a
AP_Camera: RunCam: get rpty channels directly using convenience funct…
peterbarker Sep 12, 2024
dd769c2
RC_Channel: remove unused get_channel_pos method
peterbarker Sep 12, 2024
244ad44
AP_OSD: don't go via RCMap singleton to get RPTY RC channels
peterbarker Sep 12, 2024
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8 changes: 4 additions & 4 deletions libraries/AP_Camera/AP_RunCam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -451,10 +451,10 @@ void AP_RunCam::handle_in_menu(Event ev)
// map rc input to an event
AP_RunCam::Event AP_RunCam::map_rc_input_to_event() const
{
const RC_Channel::AuxSwitchPos throttle = rc().get_channel_pos(AP::rcmap()->throttle());
const RC_Channel::AuxSwitchPos yaw = rc().get_channel_pos(AP::rcmap()->yaw());
const RC_Channel::AuxSwitchPos roll = rc().get_channel_pos(AP::rcmap()->roll());
const RC_Channel::AuxSwitchPos pitch = rc().get_channel_pos(AP::rcmap()->pitch());
const RC_Channel::AuxSwitchPos throttle = rc().get_throttle_channel().get_aux_switch_pos();
const RC_Channel::AuxSwitchPos yaw = rc().get_yaw_channel().get_aux_switch_pos();
const RC_Channel::AuxSwitchPos roll = rc().get_roll_channel().get_aux_switch_pos();
const RC_Channel::AuxSwitchPos pitch = rc().get_pitch_channel().get_aux_switch_pos();

Event result = Event::NONE;

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1 change: 0 additions & 1 deletion libraries/AP_Camera/AP_RunCam.h
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Expand Up @@ -27,7 +27,6 @@

#include <AP_Param/AP_Param.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_OSD/AP_OSD.h>

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2 changes: 1 addition & 1 deletion libraries/AP_OSD/AP_OSD.h
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Expand Up @@ -503,7 +503,7 @@ class AP_OSD_ParamScreen : public AP_OSD_AbstractScreen

#if AP_RC_CHANNEL_ENABLED
Event map_rc_input_to_event() const;
RC_Channel::AuxSwitchPos get_channel_pos(uint8_t rcmapchan) const;
RC_Channel::AuxSwitchPos get_channel_pos(const class RC_Channel &chan) const;
#endif

uint8_t _selected_param = 1;
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18 changes: 7 additions & 11 deletions libraries/AP_OSD/AP_OSD_ParamScreen.cpp
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Expand Up @@ -26,7 +26,6 @@
#include <AP_HAL/Util.h>
#include <limits.h>
#include <ctype.h>
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
Expand Down Expand Up @@ -390,14 +389,11 @@ void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
}

// return radio values as LOW, MIDDLE, HIGH
// this function uses different threshold values to RC_Chanel::get_channel_pos()
// this function uses different threshold values to RC_Chanel::get_aux_switch_pos()
// to avoid glitching on the stick travel
RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(uint8_t rcmapchan) const
RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(const RC_Channel &chanref) const
{
const RC_Channel* chan = rc().channel(rcmapchan-1);
if (chan == nullptr) {
return RC_Channel::AuxSwitchPos::LOW;
}
const auto chan = &chanref;

const uint16_t in = chan->get_radio_in();
if (in <= 900 || in >= 2200) {
Expand All @@ -419,10 +415,10 @@ RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(uint8_t rcmapchan)
// map rc input to an event
AP_OSD_ParamScreen::Event AP_OSD_ParamScreen::map_rc_input_to_event() const
{
const RC_Channel::AuxSwitchPos throttle = get_channel_pos(AP::rcmap()->throttle());
const RC_Channel::AuxSwitchPos yaw = get_channel_pos(AP::rcmap()->yaw());
const RC_Channel::AuxSwitchPos roll = get_channel_pos(AP::rcmap()->roll());
const RC_Channel::AuxSwitchPos pitch = get_channel_pos(AP::rcmap()->pitch());
const RC_Channel::AuxSwitchPos throttle = get_channel_pos(rc().get_throttle_channel());
const RC_Channel::AuxSwitchPos yaw = get_channel_pos(rc().get_yaw_channel());
const RC_Channel::AuxSwitchPos roll = get_channel_pos(rc().get_roll_channel());
const RC_Channel::AuxSwitchPos pitch = get_channel_pos(rc().get_pitch_channel());

Event result = Event::NONE;

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8 changes: 0 additions & 8 deletions libraries/RC_Channel/RC_Channel.cpp
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Expand Up @@ -1921,14 +1921,6 @@ RC_Channel::AuxSwitchPos RC_Channel::get_aux_switch_pos() const
return position;
}

// return switch position value as LOW, MIDDLE, HIGH
// if reading the switch fails then it returns LOW
RC_Channel::AuxSwitchPos RC_Channels::get_channel_pos(const uint8_t rcmapchan) const
{
const RC_Channel* chan = rc().channel(rcmapchan-1);
return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::AuxSwitchPos::LOW;
}

RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::AUX_FUNC option)
{
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
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1 change: 0 additions & 1 deletion libraries/RC_Channel/RC_Channel.h
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Expand Up @@ -498,7 +498,6 @@ class RC_Channels {

class RC_Channel *find_channel_for_option(const RC_Channel::AUX_FUNC option);
bool duplicate_options_exist();
RC_Channel::AuxSwitchPos get_channel_pos(const uint8_t rcmapchan) const;
void convert_options(const RC_Channel::AUX_FUNC old_option, const RC_Channel::AUX_FUNC new_option);

void init_aux_all();
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