Rc.h

00001 #include "mbed.h"
00002 #include "Global.h"
00003 #include "Ppm.h"
00004 #include "filter.h"
00005 #include "Status.h"
00006 
00007 #ifndef Rc_H
00008 #define Rc_H
00009 
00010 class Rc                
00011 {
00012   public:             
00013     Rc(Status& status, PinName pin);    
00014     ~Rc();
00015     
00016     struct MappedRc
00017     {
00018        double yaw;
00019        double pitch;
00020        double roll;
00021        double throttle;
00022     };
00023     
00024     struct RawRc
00025     {
00026         double channel0;
00027         double channel1;
00028         double channel2;
00029         double channel3;
00030         double channel4;
00031         double channel5;
00032         double channel6;
00033         double channel7;    
00034     };
00035     
00036     MappedRc getMappedRc();
00037     RawRc getRawRc();
00038     
00039   private:
00040     double Map(double input, double inputMin, double inputMax, double outputMin, double outputMax);
00041     
00042     Ppm* _ppm;
00043     Status& _status;
00044     filter* _yawMedianFilter;
00045     filter* _pitchMedianFilter;
00046     filter* _rollMedianFilter;
00047     filter* _thrustMedianFilter;
00048     filter* _armMedianFilter;
00049     filter* _modeMedianFilter;
00050     int _notConnectedIterator;
00051     int _connectedIterator;
00052 };
00053 
00054 #endif