ardupilot/libraries/AP_HAL_SITL/RCInput.h

#ifndef __AP_HAL_SITL_RCINPUT_H__
#define __AP_HAL_SITL_RCINPUT_H__

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_HAL_SITL.h"

class HALSITL::SITLRCInput : public AP_HAL::RCInput {
public:
    SITLRCInput(SITL_State *sitlState) {
        _sitlState = sitlState;
    }
    void init(void* machtnichts);
    bool  new_input();
    uint8_t num_channels() {
        return 8;
    }
    uint16_t read(uint8_t ch);
    uint8_t read(uint16_t* periods, uint8_t len);

    bool set_overrides(int16_t *overrides, uint8_t len);
    bool set_override(uint8_t channel, int16_t override);
    void clear_overrides();

private:
    SITL_State *_sitlState;
    bool _valid;

    /* override state */
    uint16_t _override[8];
};

#endif
#endif // __AP_HAL_SITL_RCINPUT_H__