kill RCMapper

AntennaTracker/wscript

@@ -9,7 +9,6 @@ def build(bld):
         ap_libraries=bld.ap_common_vehicle_libraries() + [
             'AP_Beacon',
             'AP_Arming',
-            'AP_RCMapper',
             'AP_OSD',
         ],
     )

ArduCopter/Copter.h

@@ -54,7 +54,6 @@
 #include <AC_WPNav/AC_Loiter.h>             // ArduCopter Loiter Mode Library
 #include <AC_WPNav/AC_Circle.h>             // circle navigation library
 #include <AP_Declination/AP_Declination.h>  // ArduPilot Mega Declination Helper Library
-#include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
 #include <AP_BattMonitor/AP_BattMonitor.h>  // Battery monitor library
 #include <AP_LandingGear/AP_LandingGear.h>  // Landing Gear library
 #include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
@@ -403,8 +402,6 @@ class Copter : public AP_Vehicle {
     Mode *flightmode;
     Mode::Number prev_control_mode;
 
-    RCMapper rcmap;
-
     // inertial nav alt when we armed
     float arming_altitude_m;
 

ArduCopter/Parameters.cpp

@@ -615,10 +615,6 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECTVARPTR(motors, "MOT_",      &copter.motors_var_info),
 #endif
 
-    // @Group: RCMAP_
-    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
-    GOBJECT(rcmap, "RCMAP_",        RCMapper),
-
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1392,6 +1388,11 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if AP_RC_CHANNEL_ENABLED
+    rc().convert_rcmap_parameters(Parameters::k_param_rcmap_old);
+#endif
+
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
 }

ArduCopter/Parameters.h

@@ -313,7 +313,7 @@ class Parameters {
         k_param_rc_9_old,
         k_param_rc_12_old,
         k_param_failsafe_gcs,
-        k_param_rcmap, // 199
+        k_param_rcmap_old, // 199
 
         //
         // 200: flight modes

ArduCopter/radio.cpp

@@ -20,10 +20,12 @@ void Copter::default_dead_zones()
 
 void Copter::init_rc_in()
 {
-    channel_roll     = rc().channel(rcmap.roll()-1);
-    channel_pitch    = rc().channel(rcmap.pitch()-1);
-    channel_throttle = rc().channel(rcmap.throttle()-1);
-    channel_yaw      = rc().channel(rcmap.yaw()-1);
+    auto &_rc = rc();
+
+    channel_roll     = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
+    channel_pitch    = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::PITCH);
+    channel_throttle = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::THROTTLE);
+    channel_yaw      = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::YAW);
 
     // set rc channel ranges
     channel_roll->set_angle(ROLL_PITCH_YAW_INPUT_MAX);

ArduCopter/wscript

@@ -17,7 +17,6 @@ def build(bld):
             'AP_IRLock',
             'AP_InertialNav',
             'AP_Motors',
-            'AP_RCMapper',
             'AP_Avoidance',
             'AP_AdvancedFailsafe',
             'AP_SmartRTL',

ArduPlane/ArduPlane.cpp

@@ -315,7 +315,7 @@ void Plane::one_second_loop()
     set_control_channels();
 
 #if HAL_WITH_IO_MCU
-    iomcu.setup_mixing(&rcmap, g.override_channel.get(), g.mixing_gain, g2.manual_rc_mask);
+    iomcu.setup_mixing(g.override_channel.get(), g.mixing_gain, g2.manual_rc_mask);
 #endif
 
 #if HAL_ADSB_ENABLED

ArduPlane/Parameters.cpp

@@ -600,7 +600,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: RUDDER_ONLY
     // @DisplayName: Rudder only aircraft
-    // @Description: Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
+    // @Description: Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RC yaw input channel (normally channel 4).   Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     GSCALAR(rudder_only,             "RUDDER_ONLY",  0),
@@ -840,10 +840,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
     GOBJECT(scheduler, "SCHED_", AP_Scheduler),
 
-    // @Group: RCMAP_
-    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
-    GOBJECT(rcmap,                "RCMAP_",         RCMapper),
-
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[0], gcs0,        "SR0_",     GCS_MAVLINK_Parameters),
@@ -1562,4 +1558,9 @@ void Plane::load_parameters(void)
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
+
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if AP_RC_CHANNEL_ENABLED
+    rc().convert_rcmap_parameters(Parameters::k_param_rcmap_old);
+#endif
 }

ArduPlane/Parameters.h

@@ -326,7 +326,7 @@ class Parameters {
         k_param_pitchController,
         k_param_yawController,
         k_param_L1_controller,
-        k_param_rcmap,
+        k_param_rcmap_old,
         k_param_TECS_controller,
         k_param_rally_total_old,  //unused
         k_param_steerController,

ArduPlane/Plane.h

@@ -58,7 +58,6 @@
 
 #include <AP_Navigation/AP_Navigation.h>
 #include <AP_L1_Control/AP_L1_Control.h>
-#include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
 
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_TECS/AP_TECS.h>
@@ -181,9 +180,6 @@ class Plane : public AP_Vehicle {
     Parameters g;
     ParametersG2 g2;
 
-    // mapping between input channels
-    RCMapper rcmap;
-
     // primary input channels
     RC_Channel *channel_roll;
     RC_Channel *channel_pitch;

ArduPlane/radio.cpp

@@ -8,16 +8,18 @@
  */
 void Plane::set_control_channels(void)
 {
+    auto &_rc = rc();
+
     if (g.rudder_only) {
         // in rudder only mode the roll and rudder channels are the
         // same.
-        channel_roll = RC_Channels::rc_channel(rcmap.yaw()-1);
+        channel_roll = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::YAW);
     } else {
-        channel_roll = RC_Channels::rc_channel(rcmap.roll()-1);
+        channel_roll = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
     }
-    channel_pitch    = RC_Channels::rc_channel(rcmap.pitch()-1);
-    channel_throttle = RC_Channels::rc_channel(rcmap.throttle()-1);
-    channel_rudder   = RC_Channels::rc_channel(rcmap.yaw()-1);
+    channel_pitch    = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::PITCH);
+    channel_throttle = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::THROTTLE);
+    channel_rudder   = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::YAW);
 
     // set rc channel ranges
     channel_roll->set_angle(SERVO_MAX);

ArduPlane/wscript

@@ -14,7 +14,6 @@ def build(bld):
             'AP_Camera',
             'AP_L1_Control',
             'AP_Navigation',
-            'AP_RCMapper',
             'AP_TECS',
             'AP_InertialNav',
             'AC_WPNav',

ArduSub/Parameters.cpp

@@ -619,12 +619,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @Path: ../libraries/AP_Motors/AP_Motors6DOF.cpp,../libraries/AP_Motors/AP_MotorsMulticopter.cpp
     GOBJECT(motors, "MOT_",         AP_Motors6DOF),
 
-#if RCMAP_ENABLED == ENABLED
-    // @Group: RCMAP_
-    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
-    GOBJECT(rcmap, "RCMAP_",        RCMapper),
-#endif
-
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -795,6 +789,11 @@ void Sub::load_parameters()
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
+
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if AP_RC_CHANNEL_ENABLED
+    rc().convert_rcmap_parameters(Parameters::k_param_rcmap_old);
+#endif
 }
 
 void Sub::convert_old_parameters()

ArduSub/Parameters.h

@@ -220,7 +220,7 @@ class Parameters {
         k_param_rpm_sensor = 232, // Disabled
 
         // RC_Mapper Library
-        k_param_rcmap, // Disabled
+        k_param_rcmap_old, // Disabled
 
         k_param_gcs4,
         k_param_gcs5,

ArduSub/Sub.h

@@ -77,11 +77,6 @@
 
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 
-// libraries which are dependent on #defines in defines.h and/or config.h
-#if RCMAP_ENABLED == ENABLED
-#include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
-#endif
-
 #include <AP_RPM/AP_RPM_config.h>
 
 #if AP_RPM_ENABLED
@@ -206,10 +201,6 @@ class Sub : public AP_Vehicle {
 
     Mode::Number prev_control_mode;
 
-#if RCMAP_ENABLED == ENABLED
-    RCMapper rcmap;
-#endif
-
     // Failsafe
     struct {
         uint32_t last_leak_warn_ms;      // last time a leak warning was sent to gcs

ArduSub/config.h

@@ -34,14 +34,6 @@
 # define CIRCLE_NAV_ENABLED ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// RCMAP
-//
-
-#ifndef RCMAP_ENABLED
-# define RCMAP_ENABLED DISABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Rangefinder
 //

ArduSub/wscript

@@ -14,7 +14,6 @@ def build(bld):
             'AP_JSButton',
             'AP_LeakDetector',
             'AP_Motors',
-            'AP_RCMapper',
             'AP_Beacon',
             'AP_TemperatureSensor',
             'AP_Arming',

Blimp/Blimp.h

@@ -42,7 +42,6 @@
 #include <Filter/Filter.h>             // Filter library
 #include <AP_Vehicle/AP_Vehicle.h>         // needed for AHRS build
 #include <AP_InertialNav/AP_InertialNav.h>     // inertial navigation library
-#include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
 #include <AP_Arming/AP_Arming.h>
 #include <AP_Scripting/AP_Scripting.h>
@@ -170,8 +169,6 @@ class Blimp : public AP_Vehicle
     ModeReason control_mode_reason = ModeReason::UNKNOWN;
     Mode::Number prev_control_mode;
 
-    RCMapper rcmap;
-
     // inertial nav alt when we armed
     float arming_altitude_m;
 

Blimp/Parameters.cpp

@@ -372,10 +372,6 @@ const AP_Param::Info Blimp::var_info[] = {
     // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
     GOBJECT(scheduler, "SCHED_", AP_Scheduler),
 
-    // @Group: RCMAP_
-    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
-    GOBJECT(rcmap, "RCMAP_",        RCMapper),
-
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -876,6 +872,10 @@ void Blimp::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
+    rc().convert_rcmap_parameters(Parameters::k_param_rcmap_old);
+#endif
+
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_BLIMP);
 }

Blimp/Parameters.h

@@ -177,7 +177,7 @@ class Parameters
         k_param_radio_tuning, // unused
         k_param_rc_speed = 192,
         k_param_failsafe_gcs,
-        k_param_rcmap, // 199
+        k_param_rcmap_old, // 199
 
         //
         // 200: flight modes

Blimp/radio.cpp

@@ -15,10 +15,12 @@ void Blimp::default_dead_zones()
 
 void Blimp::init_rc_in()
 {
-    channel_right = rc().channel(rcmap.roll()-1);
-    channel_front = rc().channel(rcmap.pitch()-1);
-    channel_up    = rc().channel(rcmap.throttle()-1);
-    channel_yaw   = rc().channel(rcmap.yaw()-1);
+    auto &_rc = rc();
+
+    channel_right     = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
+    channel_front    = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::PITCH);
+    channel_up = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::THROTTLE);
+    channel_yaw      = _rc.find_channel_for_option(RC_Channel::AUX_FUNC::YAW);
 
     // set rc channel ranges
     channel_right->set_angle(RC_SCALE);

Blimp/wscript

@@ -9,7 +9,6 @@ def build(bld):
         ap_libraries=bld.ap_common_vehicle_libraries() + [
             'AC_InputManager',
             'AP_InertialNav',
-            'AP_RCMapper',
             'AP_Avoidance',
             'AP_Arming',
             'AP_LTM_Telem',

Rover/Parameters.cpp

@@ -228,10 +228,6 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
-    // @Group: RCMAP_
-    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
-    GOBJECT(rcmap,                 "RCMAP_",         RCMapper),
-
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
     GOBJECTN(_gcs.chan_parameters[0], gcs0,        "SR0_",     GCS_MAVLINK_Parameters),
@@ -928,4 +924,8 @@ void Rover::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
+#if AP_RC_CHANNEL_ENABLED
+    rc().convert_rcmap_parameters(Parameters::k_param_rcmap_old);
+#endif
 }

Rover/Parameters.h

@@ -217,7 +217,7 @@ class Parameters {
         k_param_ahrs,
         k_param_ins,
         k_param_compass,
-        k_param_rcmap,
+        k_param_rcmap_old,
         k_param_L1_controller,          // unused
         k_param_steerController_old,    // unused
         k_param_barometer,

Rover/Rover.h

@@ -29,7 +29,6 @@
 #include <AP_Mount/AP_Mount.h>                      // Camera/Antenna mount
 #include <AP_Param/AP_Param.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>          // Range finder library
-#include <AP_RCMapper/AP_RCMapper.h>                // RC input mapping library
 #include <AP_RPM/AP_RPM.h>                          // RPM input library
 #include <AP_Scheduler/AP_Scheduler.h>              // main loop scheduler
 #include <AP_Vehicle/AP_Vehicle.h>                  // needed for AHRS build
@@ -125,9 +124,6 @@ class Rover : public AP_Vehicle {
     Parameters g;
     ParametersG2 g2;
 
-    // mapping between input channels
-    RCMapper rcmap;
-
     // primary control channels
     RC_Channel *channel_steer;
     RC_Channel *channel_throttle;

Rover/radio.cpp

@@ -6,9 +6,9 @@
 void Rover::set_control_channels(void)
 {
     // check change on RCMAP
-    channel_steer    = rc().channel(rcmap.roll()-1);
-    channel_throttle = rc().channel(rcmap.throttle()-1);
-    channel_lateral  = rc().channel(rcmap.yaw()-1);
+    channel_steer    = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
+    channel_throttle = rc().find_channel_for_option(RC_Channel::AUX_FUNC::THROTTLE);
+    channel_lateral  = rc().find_channel_for_option(RC_Channel::AUX_FUNC::YAW);
 
     // set rc channel ranges
     channel_steer->set_angle(SERVO_MAX);