From 009cb8f62b3e2a638ab8bf5196e6d1e287a850b2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 14 Jan 2021 08:37:52 +1100 Subject: [PATCH] HAL_Linux: setup RCIN for vnav --- libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 3 +++ libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp | 3 ++- libraries/AP_HAL_Linux/RCInput_RCProtocol.h | 3 ++- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index a4b8bba659..13a86003ff 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -163,6 +163,9 @@ static RCInput_SoloLink rcinDriver; static RCInput_Navio2 rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL}; +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV +// this is needed to allow for RC input using SERIALn_PROTOCOL=23 +static RCInput_RCProtocol rcinDriver{"/dev/null", NULL}; #else static RCInput rcinDriver; #endif diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp index 3eef99ab8a..321c5bf33a 100644 --- a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp +++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp @@ -27,7 +27,8 @@ #include #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV extern const AP_HAL::HAL& hal; diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h index 9211a4998b..d15a3417fe 100644 --- a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h +++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h @@ -24,7 +24,8 @@ #include #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV namespace Linux {