ardupilot/ArduCopter/RC_Channel.h

50 lines
1.2 KiB
C
Raw Normal View History

#pragma once
#include <RC_Channel/RC_Channel.h>
#include <AP_Motors/AP_Motors.h>
#include "mode.h"
class RC_Channel_Copter : public RC_Channel
{
public:
protected:
void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
private:
void do_aux_function_armdisarm(const AuxSwitchPos ch_flag) override;
void do_aux_function_change_mode(const Mode::Number mode,
const AuxSwitchPos ch_flag);
void do_aux_function_change_air_mode(const AuxSwitchPos ch_flag);
// called when the mode switch changes position:
void mode_switch_changed(modeswitch_pos_t new_pos) override;
};
class RC_Channels_Copter : public RC_Channels
{
public:
bool has_valid_input() const override;
RC_Channel *get_arming_channel(void) const override;
RC_Channel_Copter obj_channels[NUM_RC_CHANNELS];
RC_Channel_Copter *channel(const uint8_t chan) override {
if (chan >= NUM_RC_CHANNELS) {
return nullptr;
}
return &obj_channels[chan];
}
protected:
int8_t flight_mode_channel_number() const override;
};