mirror of https://github.com/ArduPilot/ardupilot
45 lines
947 B
C
45 lines
947 B
C
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#pragma once
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#include "AP_RCProtocol_config.h"
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#if AP_RCPROTOCOL_UDP_ENABLED
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/*
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* Reads fixed-length packets containing either 8 or 16 2-byte values,
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* and interprets them as RC input.
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*/
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#include "AP_RCProtocol_Backend.h"
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#include <AP_Common/missing/endian.h>
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#include <AP_HAL/utility/Socket_native.h>
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class AP_RCProtocol_UDP : public AP_RCProtocol_Backend {
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public:
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using AP_RCProtocol_Backend::AP_RCProtocol_Backend;
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void update() override;
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private:
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bool init();
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bool init_done;
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uint32_t last_input_ms;
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void read_all_socket_input(void);
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SocketAPM_native rc_in{true}; // "true" means "datagram"
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// these are the values that will be fed into the autopilot.
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// Packets we receive usually only contain a subset of channel
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// values to insert into here:
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uint16_t pwm_input[16];
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uint8_t num_channels;
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void set_default_pwm_input_values();
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};
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#endif // AP_RCPROTOCOL_UDP_ENABLED
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