mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.1 KiB
C
44 lines
1.1 KiB
C
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#pragma once
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#include "AP_HAL_PX4.h"
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/actuator_outputs.h>
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namespace PX4 {
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class RCOutput_Tap : public AP_HAL::RCOutput {
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public:
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t *period_us, uint8_t len) override;
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
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_esc_pwm_min = min_pwm;
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_esc_pwm_max = max_pwm;
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}
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void cork() override;
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void push() override;
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private:
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static const uint8_t MAX_MOTORS = 4;
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void _send_outputs(void);
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uint8_t _enabled_channels = 0;
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bool _corking = false;
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uint16_t _period[MAX_MOTORS];
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uint16_t _esc_pwm_min = 0;
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uint16_t _esc_pwm_max = 0;
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perf_counter_t _perf_rcout;
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};
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}
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