Rc default for low and high

ArduPlane/control_modes.cpp

@@ -139,7 +139,7 @@ void Plane::read_control_switch()
 
 #if PARACHUTE == ENABLED
     if (g.parachute_channel > 0) {
-        if (RC_Channels::get_radio_in(g.parachute_channel-1) >= 1700) {
+        if (RC_Channels::get_radio_in(g.parachute_channel-1) >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
             parachute_manual_release();
         }
     }

ArduPlane/mode_fbwa.cpp

@@ -25,7 +25,7 @@ void ModeFBWA::update()
     }
     if (plane.g.fbwa_tdrag_chan > 0) {
         // check for the user enabling FBWA taildrag takeoff mode
-        bool tdrag_mode = (RC_Channels::get_radio_in(plane.g.fbwa_tdrag_chan-1) > 1700);
+        bool tdrag_mode = (RC_Channels::get_radio_in(plane.g.fbwa_tdrag_chan-1) > RC_Channel::AUX_PWM_TRIGGER_HIGH);
         if (tdrag_mode && !plane.auto_state.fbwa_tdrag_takeoff_mode) {
             if (plane.auto_state.highest_airspeed < plane.g.takeoff_tdrag_speed1) {
                 plane.auto_state.fbwa_tdrag_takeoff_mode = true;

ArduPlane/tailsitter.cpp

@@ -217,7 +217,7 @@ void QuadPlane::tailsitter_output(void)
 
     if (tailsitter.input_mask_chan > 0 &&
         tailsitter.input_mask > 0 &&
-        RC_Channels::get_radio_in(tailsitter.input_mask_chan-1) > 1700) {
+        RC_Channels::get_radio_in(tailsitter.input_mask_chan-1) > RC_Channel::AUX_PWM_TRIGGER_HIGH) {
         // the user is learning to prop-hang
         if (tailsitter.input_mask & TAILSITTER_MASK_AILERON) {
             SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());

Rover/AP_Arming.cpp

@@ -19,11 +19,11 @@ bool AP_Arming_Rover::rc_calibration_checks(const bool display_failure)
         const RC_Channel *channel = channels[i];
         const char *channel_name = channel_names[i];
         // check if radio has been calibrated
-        if (channel->get_radio_min() > 1300) {
+        if (channel->get_radio_min() > RC_Channel::RC_CALIB_MIN_LIMIT_PWM) {
             check_failed(ARMING_CHECK_RC, display_failure, "%s radio min too high", channel_name);
             return false;
         }
-        if (channel->get_radio_max() < 1700) {
+        if (channel->get_radio_max() < RC_Channel::RC_CALIB_MAX_LIMIT_PWM) {
             check_failed(ARMING_CHECK_RC, display_failure, "%s radio max too low", channel_name);
             return false;
         }

libraries/AP_Arming/AP_Arming.cpp

@@ -1260,11 +1260,11 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
         const RC_Channel *channel = channels[i];
         const char *channel_name = channel_names[i];
         // check if radio has been calibrated
-        if (channel->get_radio_min() > 1300) {
+        if (channel->get_radio_min() > RC_Channel::RC_CALIB_MIN_LIMIT_PWM) {
             check_failed(ARMING_CHECK_RC, display_failure, "%s radio min too high", channel_name);
             ret = false;
         }
-        if (channel->get_radio_max() < 1700) {
+        if (channel->get_radio_max() < RC_Channel::RC_CALIB_MAX_LIMIT_PWM) {
             check_failed(ARMING_CHECK_RC, display_failure, "%s radio max too low", channel_name);
             ret = false;
         }

libraries/AP_Button/AP_Button.cpp

@@ -179,12 +179,12 @@ void AP_Button::update(void)
         // these values are the same as used in RC_Channel:
         if (pwm_state & mask) {
             // currently asserted; check to see if we should de-assert
-            if (pwm_us < RC_Channel::AUX_PWM_TRIGGER_LOW) {
+            if (pwm_us < RC_Channel::AUX_SWITCH_PWM_TRIGGER_LOW) {
                 new_pwm_state &= ~mask;
             }
         } else {
             // currently not asserted; check to see if we should assert
-            if (pwm_us > RC_Channel::AUX_PWM_TRIGGER_HIGH) {
+            if (pwm_us > RC_Channel::AUX_SWITCH_PWM_TRIGGER_HIGH) {
                 new_pwm_state |= mask;
             }
         }

libraries/AP_ICEngine/AP_ICEngine.cpp

@@ -180,9 +180,9 @@ void AP_ICEngine::update(void)
         // snap the input to either 1000, 1500, or 2000
         // this is useful to compare a debounce changed value
         // while ignoring tiny noise
-        if (cvalue >= 1700) {
+        if (cvalue >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
             cvalue = 2000;
-        } else if ((cvalue > 800) && (cvalue <= 1300)) {
+        } else if ((cvalue > 800) && (cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW)) {
             cvalue = 1300;
         } else {
             cvalue = 1500;
@@ -203,9 +203,9 @@ void AP_ICEngine::update(void)
     }
 
 
-    if (state == ICE_OFF && start_chan_last_value >= 1700) {
+    if (state == ICE_OFF && start_chan_last_value >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
         should_run = true;
-    } else if (start_chan_last_value <= 1300) {
+    } else if (start_chan_last_value <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
         should_run = false;
     } else if (state != ICE_OFF) {
         should_run = true;
@@ -360,7 +360,7 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
     if (c != nullptr && rc().has_valid_input()) {
         // get starter control channel
         uint16_t cvalue = c->get_radio_in();
-        if (cvalue >= start_chan_min_pwm && cvalue <= 1300) {
+        if (cvalue >= start_chan_min_pwm && cvalue <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
             gcs().send_text(MAV_SEVERITY_INFO, "Engine: start control disabled");
             return false;
         }

libraries/AP_OSD/AP_OSD_ParamScreen.cpp

@@ -406,9 +406,9 @@ RC_Channel::AuxSwitchPos AP_OSD_ParamScreen::get_channel_pos(uint8_t rcmapchan)
     // switch is reversed if 'reversed' option set on channel and switches reverse is allowed by RC_OPTIONS
     bool switch_reversed = chan->get_reverse() && rc().switch_reverse_allowed();
 
-    if (in < 1300) {
+    if (in < RC_Channel::AUX_PWM_TRIGGER_LOW) {
         return switch_reversed ? RC_Channel::AuxSwitchPos::HIGH : RC_Channel::AuxSwitchPos::LOW;
-    } else if (in > 1700) {
+    } else if (in > RC_Channel::AUX_PWM_TRIGGER_HIGH) {
         return switch_reversed ? RC_Channel::AuxSwitchPos::LOW : RC_Channel::AuxSwitchPos::HIGH;
     } else {
         return RC_Channel::AuxSwitchPos::MIDDLE;

libraries/AP_Tuning/AP_Tuning.cpp

@@ -75,7 +75,7 @@ void AP_Tuning::check_selector_switch(void)
         return;
     }
     uint16_t selector_in = selchan->get_radio_in();
-    if (selector_in >= 1700) {
+    if (selector_in >= RC_Channel::AUX_PWM_TRIGGER_HIGH) {
         // high selector
         if (selector_start_ms == 0) {
             selector_start_ms = AP_HAL::millis();
@@ -90,7 +90,7 @@ void AP_Tuning::check_selector_switch(void)
             changed = false;
             need_revert = 0;
         }
-    } else if (selector_in <= 1300) {
+    } else if (selector_in <= RC_Channel::AUX_PWM_TRIGGER_LOW) {
         // low selector
         if (selector_start_ms != 0) {
             uint32_t hold_time = AP_HAL::millis() - selector_start_ms;

libraries/RC_Channel/RC_Channel.cpp

@@ -1156,9 +1156,9 @@ bool RC_Channel::read_3pos_switch(RC_Channel::AuxSwitchPos &ret) const
     // switch is reversed if 'reversed' option set on channel and switches reverse is allowed by RC_OPTIONS
     bool switch_reversed = reversed && rc().switch_reverse_allowed();
 
-    if (in < AUX_PWM_TRIGGER_LOW) {
+    if (in < AUX_SWITCH_PWM_TRIGGER_LOW) {
         ret = switch_reversed ? AuxSwitchPos::HIGH : AuxSwitchPos::LOW;
-    } else if (in > AUX_PWM_TRIGGER_HIGH) {
+    } else if (in > AUX_SWITCH_PWM_TRIGGER_HIGH) {
         ret = switch_reversed ? AuxSwitchPos::LOW : AuxSwitchPos::HIGH;
     } else {
         ret = AuxSwitchPos::MIDDLE;

libraries/RC_Channel/RC_Channel.h

@@ -240,11 +240,20 @@ class RC_Channel {
 #if !HAL_MINIMIZE_FEATURES
     const char *string_for_aux_function(AUX_FUNC function) const;
 #endif
+    // pwm value above which we condider that Radio min value is invalid
+    static const uint16_t RC_CALIB_MIN_LIMIT_PWM = 1300;
+    // pwm value under which we condider that Radio max value is invalid
+    static const uint16_t RC_CALIB_MAX_LIMIT_PWM = 1700;
+
+    // pwm value above which the switch/button will be invoked:
+    static const uint16_t AUX_SWITCH_PWM_TRIGGER_HIGH = 1800;
+    // pwm value below which the switch/button will be disabled:
+    static const uint16_t AUX_SWITCH_PWM_TRIGGER_LOW = 1200;
 
     // pwm value above which the option will be invoked:
-    static const uint16_t AUX_PWM_TRIGGER_HIGH = 1800;
+    static const uint16_t AUX_PWM_TRIGGER_HIGH = 1700;
     // pwm value below which the option will be disabled:
-    static const uint16_t AUX_PWM_TRIGGER_LOW = 1200;
+    static const uint16_t AUX_PWM_TRIGGER_LOW = 1300;
 
 protected: