ardupilot/libraries/AP_HAL/examples/RCInput/RCInput.cpp

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/*
simple test of RC input interface
*/
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define MAX_CHANNELS 16
static uint8_t max_channels = 0;
static uint16_t last_value[MAX_CHANNELS];
void setup(void)
{
hal.console->printf("Starting RCInput test\n");
}
void loop(void)
{
bool changed = false;
uint8_t nchannels = hal.rcin->num_channels();
if (nchannels > MAX_CHANNELS) {
nchannels = MAX_CHANNELS;
}
for (uint8_t i=0; i<nchannels; i++) {
uint16_t v = hal.rcin->read(i);
if (last_value[i] != v) {
changed = true;
last_value[i] = v;
}
if (i > max_channels) {
max_channels = i;
}
}
if (changed) {
for (uint8_t i=0; i<max_channels; i++) {
hal.console->printf("%2u:%04u ", (unsigned)i+1, (unsigned)last_value[i]);
}
hal.console->println();
}
hal.scheduler->delay(100);
}
AP_HAL_MAIN();