ardupilot/libraries/AP_RCProtocol/AP_RCProtocol_SBUS_NI.h

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "AP_RCProtocol.h"
#include "AP_RCProtocol_SBUS.h"
class AP_RCProtocol_SBUS_NI : public AP_RCProtocol_SBUS {
public:
AP_RCProtocol_SBUS_NI(AP_RCProtocol &_frontend) : AP_RCProtocol_SBUS(_frontend), saved_width(0) {}
void process_pulse(uint32_t width_s0, uint32_t width_s1) override {
AP_RCProtocol_SBUS::process_pulse(saved_width, width_s0);
saved_width = width_s1;
}
private:
uint32_t saved_width;
};