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HAL_Linux: setup RCIN for vnav

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This commit is contained in:
Andrew Tridgell 2021-01-14 08:37:52 +11:00
parent bd9dd7ff4c
commit 009cb8f62b
3 changed files with 7 additions and 2 deletions
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3
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -163,6 +163,9 @@ static RCInput_SoloLink rcinDriver;
static RCInput_Navio2 rcinDriver; static RCInput_Navio2 rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL}; 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 #else
static RCInput rcinDriver; static RCInput rcinDriver;
#endif #endif

3
libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
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@ -27,7 +27,8 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ #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; extern const AP_HAL::HAL& hal;

3
libraries/AP_HAL_Linux/RCInput_RCProtocol.h
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@ -24,7 +24,8 @@
#include <stdarg.h> #include <stdarg.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ #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 { namespace Linux {