ardupilot/libraries/AP_RCMapper/AP_RCMapper.h

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#pragma once
#include <inttypes.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
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class RCMapper {
public:
RCMapper();
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/* Do not allow copies */
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CLASS_NO_COPY(RCMapper);
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// get singleton instance
static RCMapper *get_singleton()
{
return _singleton;
}
/// roll - return input channel number for roll / aileron input
uint8_t roll() const { return _ch_roll; }
/// pitch - return input channel number for pitch / elevator input
uint8_t pitch() const { return _ch_pitch; }
/// throttle - return input channel number for throttle input
uint8_t throttle() const { return _ch_throttle; }
/// yaw - return input channel number for yaw / rudder input
uint8_t yaw() const { return _ch_yaw; }
/// forward - return input channel number for forward input
uint8_t forward() const { return _ch_forward; }
/// lateral - return input channel number for lateral input
uint8_t lateral() const { return _ch_lateral; }
static const struct AP_Param::GroupInfo var_info[];
private:
// channel mappings
AP_Int8 _ch_roll;
AP_Int8 _ch_pitch;
AP_Int8 _ch_yaw;
AP_Int8 _ch_throttle;
AP_Int8 _ch_forward;
AP_Int8 _ch_lateral;
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static RCMapper *_singleton;
};
namespace AP
{
RCMapper *rcmap();
};