mirror of https://github.com/ArduPilot/ardupilot
RC_Channel: add RC_FS_TIMEOUT param and accessor for Copter
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@ -602,6 +602,9 @@ public:
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bool get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos);
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#endif
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// get failsafe timeout in milliseconds
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uint32_t get_fs_timeout_ms() const { return MAX(_fs_timeout * 1000, 100); }
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protected:
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enum class Option {
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@ -637,6 +640,7 @@ private:
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AP_Float _override_timeout;
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AP_Int32 _options;
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AP_Int32 _protocols;
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AP_Float _fs_timeout;
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RC_Channel *flight_mode_channel() const;
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@ -99,5 +99,13 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
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// @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
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AP_GROUPINFO("_PROTOCOLS", 34, RC_CHANNELS_SUBCLASS, _protocols, 1),
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// @Param: _FS_TIMEOUT
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// @DisplayName: RC Failsafe timeout
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// @Description: RC failsafe will trigger this many seconds after loss of RC
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// @User: Standard
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// @Range: 0.5 10.0
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// @Units: s
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AP_GROUPINFO_FRAME("_FS_TIMEOUT", 35, RC_CHANNELS_SUBCLASS, _fs_timeout, 1.0, AP_PARAM_FRAME_COPTER),
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AP_GROUPEND
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};
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