/* -*- indent-tabs-mode:T; c-basic-offset:8; tab-width:8; -*- vi: set ts=8: *  $Id: Radio.cpp,v 2.2 2002/10/20 19:33:41 tramm Exp $ * * (c) Trammell Hudson <hudson@rotomotion.com> * * PPM decoder object. * * Accepts signals from the radio and translates them into * servo commands. * ************** * *  This file is part of the autopilot simulation package. * *  Autopilot is free software; you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation; either version 2 of the License, or *  (at your option) any later version. * *  Autopilot is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the *  GNU General Public License for more details. * *  You should have received a copy of the GNU General Public License *  along with Autopilot; if not, write to the Free Software *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA * */#include <imu-filter/Radio.h>#include "read_line.h"#include <iostream>#include <cstdio>using namespace std;using namespace util;namespace imufilter{Radio::Radio() :	ppm_valid		(false),	pulse_width_index	(8),	/*	 *  Futaba assignments.	 *	 * THESE MUST AGREE WITH THE ONBOARD CODE!	 *	 * It is at great risk to yourself and your hardware if they	 * do not match up with what is installed on the board.	 *	 */	collective_index	(2),	throttle_index		(5),	roll_index		(0),	pitch_index		(1),	yaw_index		(3),	extra_index		(7),	manual_index		(4),	manual_threshold	(0x3000),	mode_index		(6),	mode_threshold_0	(0x2000),	mode_threshold_1	(0x3800){}voidRadio::update(	const char *		line){	/* Check for well formed line and split into values */	int			values[9];	if( nmea_split( line, values, 8 ) != 8 )	{		cerr << "Radio: Bad PPM line: " << line << endl;		return;	}	this->collective	= values[ this->collective_index ];	this->throttle		= values[ this->throttle_index ];	this->roll		= values[ this->roll_index ];	this->pitch		= values[ this->pitch_index ];	this->yaw		= values[ this->yaw_index ];	this->extra		= values[ extra_index ];	/* Manual switch requires special handling */	int manual_width	= values[ this->manual_index ];	this->manual		= manual_width > this->manual_threshold;	/* As does the mode switch */	int mode_width		= values[ this->mode_index ];	this->mode		= mode_width < this->mode_threshold_0 ? 0 :				  mode_width < this->mode_threshold_1 ? 1 :				  2;	this->ppm_valid		= true;}/* *  Output a command to the servo controller */intRadio::output(	char *			line,	size_t			len) const{	return snprintf( line, len,		"S=%04x,%04x,%04x,%04x,%04x\n",		this->collective,		this->throttle,		this->roll,		this->pitch,		this->yaw	);}}