ardupilot/libraries/AP_SBusOut/AP_SBusOut.h

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/*
* AP_SBusOut.h
*
* Created on: Aug 19, 2017
* Author: Mark Whitehorn
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Param/AP_Param.h>
class AP_SBusOut {
public:
AP_SBusOut();
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/* Do not allow copies */
AP_SBusOut(const AP_SBusOut &other) = delete;
AP_SBusOut &operator=(const AP_SBusOut&) = delete;
static const struct AP_Param::GroupInfo var_info[];
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void update();
// public format function for use by IOMCU
static void sbus_format_frame(uint16_t *channels, uint8_t num_channels, uint8_t buffer[25]);
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private:
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AP_HAL::UARTDriver *sbus1_uart;
void init(void);
uint16_t sbus_frame_interval; // microseconds
AP_Int16 sbus_rate;
bool initialised;
};