Sub: minimal support for inheritting from RC_Channel

ArduSub/ArduSub.cpp

@@ -158,7 +158,7 @@ void Sub::fifty_hz_loop()
     failsafe_sensors_check();
 
     // Update rc input/output
-    RC_Channels::read_input();
+    rc().read_input();
     SRV_Channels::output_ch_all();
 }
 

ArduSub/Parameters.h

@@ -327,7 +327,7 @@ class ParametersG2 {
 #endif
 
     // RC input channels
-    RC_Channels rc_channels;
+    RC_Channels_Sub rc_channels;
 
     // control over servo output ranges
     SRV_Channels servo_channels;

ArduSub/RC_Channel.cpp

@@ -0,0 +1,17 @@
+#include "Sub.h"
+
+#include "RC_Channel.h"
+
+// defining these two macros and including the RC_Channels_VarInfo
+// header defines the parameter information common to all vehicle
+// types
+#define RC_CHANNELS_SUBCLASS RC_Channels_Sub
+#define RC_CHANNEL_SUBCLASS RC_Channel_Sub
+
+#include <RC_Channel/RC_Channels_VarInfo.h>
+
+// note that this callback is not presently used on Plane:
+int8_t RC_Channels_Sub::flight_mode_channel_number() const
+{
+    return 1; // sub does not have a flight mode channel
+}

ArduSub/RC_Channel.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <RC_Channel/RC_Channel.h>
+
+class RC_Channel_Sub : public RC_Channel
+{
+
+public:
+
+protected:
+
+private:
+
+};
+
+class RC_Channels_Sub : public RC_Channels
+{
+public:
+
+    RC_Channel_Sub obj_channels[NUM_RC_CHANNELS];
+    RC_Channel_Sub *channel(const uint8_t chan) override {
+        if (chan > NUM_RC_CHANNELS) {
+            return nullptr;
+        }
+        return &obj_channels[chan];
+    }
+
+protected:
+
+    // note that these callbacks are not presently used on Plane:
+    int8_t flight_mode_channel_number() const override;
+
+};

ArduSub/Sub.h

@@ -54,7 +54,6 @@
 #include <AC_PID/AC_PID_2D.h>          // PID library (2-axis)
 #include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
 #include <AC_AttitudeControl/AC_PosControl_Sub.h>      // Position control library
-#include <RC_Channel/RC_Channel.h>         // RC Channel Library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <Filter/Filter.h>             // Filter library
@@ -82,6 +81,7 @@
 #include "defines.h"
 #include "config.h"
 #include "GCS_Mavlink.h"
+#include "RC_Channel.h"         // RC Channel Library
 #include "Parameters.h"
 #include "AP_Arming_Sub.h"
 #include "GCS_Sub.h"
@@ -130,6 +130,7 @@ class Sub : public AP_HAL::HAL::Callbacks {
     friend class Parameters;
     friend class ParametersG2;
     friend class AP_Arming_Sub;
+    friend class RC_Channels_Sub;
 
     Sub(void);
 

ArduSub/system.cpp

@@ -87,6 +87,9 @@ void Sub::init_ardupilot()
 
     gcs().set_dataflash(&DataFlash);
 
+    // initialise rc channels including setting mode
+    rc().init();
+
     init_rc_in();               // sets up rc channels from radio
     init_rc_out();              // sets up motors and output to escs
     init_joystick();            // joystick initialization