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HAL_SITL: use SITL_NUM_CHANNELS

This commit is contained in:
Andrew Tridgell 2015-06-30 08:55:02 +10:00
parent f8944ab6be
commit 15efae5a48
3 changed files with 9 additions and 9 deletions
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4
libraries/AP_HAL_SITL/RCOutput.cpp
View File

@ -23,7 +23,7 @@ void SITLRCOutput::disable_ch(uint8_t ch)
void SITLRCOutput::write(uint8_t ch, uint16_t period_us)
{
if (ch < 11) {
if (ch < SITL_NUM_CHANNELS) {
_sitlState->pwm_output[ch] = period_us;
}
}
@ -35,7 +35,7 @@ void SITLRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
uint16_t SITLRCOutput::read(uint8_t ch)
{
if (ch < 11) {
if (ch < SITL_NUM_CHANNELS) {
return _sitlState->pwm_output[ch];
}
return 0;

10
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -342,7 +342,7 @@ void SITL_State::_apply_servo_filter(float deltat)
if (max_change == 0) {
max_change = 1;
}
for (uint8_t i=0; i<11; i++) {
for (uint8_t i=0; i<SITL_NUM_CHANNELS; i++) {
int16_t change = (int16_t)pwm_output[i] - (int16_t)last_pwm_output[i];
if (change > max_change) {
pwm_output[i] = last_pwm_output[i] + max_change;
@ -366,7 +366,7 @@ void SITL_State::_simulator_servos(Aircraft::sitl_input &input)
uint8_t i;
if (last_update_usec == 0) {
for (i=0; i<11; i++) {
for (i=0; i<SITL_NUM_CHANNELS; i++) {
pwm_output[i] = 1000;
}
if (_vehicle == ArduPlane) {
@ -377,7 +377,7 @@ void SITL_State::_simulator_servos(Aircraft::sitl_input &input)
pwm_output[0] = pwm_output[1] = pwm_output[2] = pwm_output[3] = 1500;
pwm_output[7] = 1800;
}
for (i=0; i<11; i++) {
for (i=0; i<SITL_NUM_CHANNELS; i++) {
last_pwm_output[i] = pwm_output[i];
}
}
@ -402,7 +402,7 @@ void SITL_State::_simulator_servos(Aircraft::sitl_input &input)
input.wind.direction = _sitl->wind_direction;
input.wind.turbulence = _sitl->wind_turbulance;
for (i=0; i<11; i++) {
for (i=0; i<SITL_NUM_CHANNELS; i++) {
if (pwm_output[i] == 0xFFFF) {
input.servos[i] = 0;
} else {
@ -461,7 +461,7 @@ void SITL_State::_simulator_servos(Aircraft::sitl_input &input)
void SITL_State::_simulator_output(bool synthetic_clock_mode)
{
struct {
uint16_t pwm[11];
uint16_t pwm[SITL_NUM_CHANNELS];
uint16_t speed, direction, turbulance;
} control;
Aircraft::sitl_input input;

4
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -40,8 +40,8 @@ public:
int gps_pipe(void);
int gps2_pipe(void);
ssize_t gps_read(int fd, void *buf, size_t count);
uint16_t pwm_output[11];
uint16_t last_pwm_output[11];
uint16_t pwm_output[SITL_NUM_CHANNELS];
uint16_t last_pwm_output[SITL_NUM_CHANNELS];
uint16_t pwm_input[8];
bool new_rc_input;
void loop_hook(void);