mirror of https://github.com/ArduPilot/ardupilot
35 lines
1.4 KiB
C++
35 lines
1.4 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_Notify/AP_Notify.h"
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#include <AP_HAL/RCOutput.h>
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#include "DShotLED.h"
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#include "SRV_Channel/SRV_Channel.h"
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extern const AP_HAL::HAL& hal;
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bool DShotLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
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{
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// don't play the motor LEDs while flying
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if (hal.util->get_soft_armed() || hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI) {
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return false;
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}
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hal.rcout->send_dshot_command(red ? AP_HAL::RCOutput::DSHOT_LED1_ON : AP_HAL::RCOutput::DSHOT_LED1_OFF);
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hal.rcout->send_dshot_command(green ? AP_HAL::RCOutput::DSHOT_LED2_ON : AP_HAL::RCOutput::DSHOT_LED2_OFF);
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hal.rcout->send_dshot_command(blue ? AP_HAL::RCOutput::DSHOT_LED0_ON : AP_HAL::RCOutput::DSHOT_LED0_OFF);
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return true;
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}
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