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RC_Channel: allow find_channel() to be called early

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and fix a bug!
This commit is contained in:
Andrew Tridgell 2016-01-04 17:48:14 +11:00
parent 47f25a0aa0
commit 238e912000
2 changed files with 7 additions and 1 deletions
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7
libraries/RC_Channel/RC_Channel_aux.cpp
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@ -21,6 +21,7 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] = {
RC_Channel_aux *RC_Channel_aux::_aux_channels[RC_AUX_MAX_CHANNELS];
uint64_t RC_Channel_aux::_function_mask;
bool RC_Channel_aux::_initialised;
/// map a function to a servo channel and output it
void
@ -132,6 +133,7 @@ void RC_Channel_aux::update_aux_servo_function(void)
if (_aux_channels[i] == NULL) continue;
_aux_channels[i]->aux_servo_function_setup();
}
_initialised = true;
}
@ -404,11 +406,14 @@ bool RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::Aux_servo_function_
// find first channel that a function is assigned to
bool RC_Channel_aux::find_channel(RC_Channel_aux::Aux_servo_function_t function, uint8_t &chan)
{
if (!_initialised) {
update_aux_servo_function();
}
if (!function_assigned(function)) {
return false;
}
for (uint8_t i=0; i<RC_AUX_MAX_CHANNELS; i++) {
if (_aux_channels[i] && _aux_channels[i]->function != function) {
if (_aux_channels[i] && _aux_channels[i]->function == function) {
chan = _aux_channels[i]->_ch_out;
return true;
}

1
libraries/RC_Channel/RC_Channel_aux.h
View File

@ -146,6 +146,7 @@ public:
private:
static uint64_t _function_mask;
static bool _initialised;
static RC_Channel_aux *_aux_channels[RC_AUX_MAX_CHANNELS];
void aux_servo_function_setup(void);