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AP_HAL_VRBrain: Remove RC overrides

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Michael du Breuil 2018-04-26 16:17:06 -07:00 committed by Andrew Tridgell
parent 9c288df8d7
commit 1f1ba54990
2 changed files with 1 additions and 45 deletions
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39
libraries/AP_HAL_VRBRAIN/RCInput.cpp
View File

@ -21,7 +21,6 @@ void VRBRAINRCInput::init()
if (_rc_sub == -1) {
AP_HAL::panic("Unable to subscribe to input_rc");
}
clear_overrides();
pthread_mutex_init(&rcin_mutex, nullptr);
}
@ -33,12 +32,7 @@ bool VRBRAINRCInput::new_input()
// don't consider input valid if we are in RC failsafe.
valid = false;
}
if (_override_valid) {
// if we have RC overrides active, then always consider it valid
valid = true;
}
_last_read = _rcin.timestamp_last_signal;
_override_valid = false;
pthread_mutex_unlock(&rcin_mutex);
if (_rcin.input_source != last_input_source) {
gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", input_source_name(_rcin.input_source));
@ -57,19 +51,10 @@ uint8_t VRBRAINRCInput::num_channels()
uint16_t VRBRAINRCInput::read(uint8_t ch)
{
if (ch >= RC_INPUT_MAX_CHANNELS) {
if (ch >= MIN(RC_INPUT_MAX_CHANNELS, _rcin.channel_count)) {
return 0;
}
pthread_mutex_lock(&rcin_mutex);
if (_override[ch]) {
uint16_t v = _override[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
}
if (ch >= _rcin.channel_count) {
pthread_mutex_unlock(&rcin_mutex);
return 0;
}
uint16_t v = _rcin.values[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
@ -86,28 +71,6 @@ uint8_t VRBRAINRCInput::read(uint16_t* periods, uint8_t len)
return len;
}
bool VRBRAINRCInput::set_override(uint8_t channel, int16_t override) {
if (override < 0) {
return false; /* -1: no change. */
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
return false;
}
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
return false;
}
void VRBRAINRCInput::clear_overrides()
{
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
}
const char *VRBRAINRCInput::input_source_name(uint8_t id) const
{
switch(id) {

7
libraries/AP_HAL_VRBRAIN/RCInput.h
View File

@ -22,21 +22,14 @@ public:
return _rssi;
}
bool set_override(uint8_t channel, int16_t override) override;
void clear_overrides() override;
void _timer_tick(void);
bool rc_bind(int dsmMode) override;
private:
/* override state */
uint16_t _override[RC_INPUT_MAX_CHANNELS];
struct rc_input_values _rcin;
int _rc_sub;
uint64_t _last_read;
bool _override_valid;
perf_counter_t _perf_rcin;
pthread_mutex_t rcin_mutex;
int16_t _rssi = -1;