ardupilot/libraries/AP_HAL_VRBRAIN/RCInput.h

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#pragma once
#include "AP_HAL_VRBRAIN.h"
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <pthread.h>
#ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18
#endif
class VRBRAIN::VRBRAINRCInput : public AP_HAL::RCInput {
public:
void init() override;
bool new_input() override;
uint8_t num_channels() override;
uint16_t read(uint8_t ch) override;
uint8_t read(uint16_t* periods, uint8_t len) override;
int16_t get_rssi(void) override {
return _rssi;
}
void _timer_tick(void);
bool rc_bind(int dsmMode) override;
private:
struct rc_input_values _rcin;
int _rc_sub;
uint64_t _last_read;
perf_counter_t _perf_rcin;
pthread_mutex_t rcin_mutex;
int16_t _rssi = -1;
uint8_t last_input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const char *input_source_name(uint8_t id) const;
};