AP_HAL: add methods to directly access erpm array from rcout

2023-10-06 20:36:09 +01:00 · 2023-10-06 20:36:09 +01:00 · 2a9c2fdf14
parent 9db7120c06
commit 2a9c2fdf14
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_HAL/RCOutput.h
+++ b/libraries/AP_HAL/RCOutput.h
@ -154,6 +154,11 @@ public:
     */
    virtual uint16_t get_erpm(uint8_t chan) const { return 0; }
    virtual float get_erpm_error_rate(uint8_t chan) const { return 100.0f; }
+    /*
+      allow all erpm values to be read and for new updates to be detected - primarily for IOMCU
+     */
+    virtual bool  new_erpm() { return false; }
+    virtual uint32_t  read_erpm(uint16_t* erpm, uint8_t len) { return 0; }

    /*
      enable PX4IO SBUS out at the given rate