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RC_Channel: add RC_FS_TIMEOUT param and accessor for Copter

This commit is contained in:
Randy Mackay 2022-11-15 11:25:34 +09:00
parent c7f08e422c
commit 14f729babb
2 changed files with 14 additions and 2 deletions
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6
libraries/RC_Channel/RC_Channel.h
View File

@ -601,7 +601,10 @@ public:
// get last aux cached value for scripting. Returns false if never set, otherwise 0,1,2
bool get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos);
#endif
// get failsafe timeout in milliseconds
uint32_t get_fs_timeout_ms() const { return MAX(_fs_timeout * 1000, 100); }
protected:
enum class Option {
@ -637,6 +640,7 @@ private:
AP_Float _override_timeout;
AP_Int32 _options;
AP_Int32 _protocols;
AP_Float _fs_timeout;
RC_Channel *flight_mode_channel() const;

10
libraries/RC_Channel/RC_Channels_VarInfo.h
View File

@ -98,6 +98,14 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @User: Advanced
// @Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS
AP_GROUPINFO("_PROTOCOLS", 34, RC_CHANNELS_SUBCLASS, _protocols, 1),
// @Param: _FS_TIMEOUT
// @DisplayName: RC Failsafe timeout
// @Description: RC failsafe will trigger this many seconds after loss of RC
// @User: Standard
// @Range: 0.5 10.0
// @Units: s
AP_GROUPINFO_FRAME("_FS_TIMEOUT", 35, RC_CHANNELS_SUBCLASS, _fs_timeout, 1.0, AP_PARAM_FRAME_COPTER),
AP_GROUPEND
};