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HAL_Linux: use AP::RC()

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This commit is contained in:
Andrew Tridgell 2019-08-27 17:42:04 +10:00
parent 672d09c965
commit 312018898f
2 changed files with 6 additions and 7 deletions
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12
libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
View File

@ -119,7 +119,7 @@ void RCInput_RCProtocol::init()
} else {
fd_115200 = -1;
}
rcp.init();
AP::RC().init();
printf("SBUS FD %d 115200 FD %d\n", fd_sbus, fd_115200);
}
@ -131,7 +131,7 @@ void RCInput_RCProtocol::_timer_tick(void)
ssize_t n = ::read(fd_sbus, &b[0], sizeof(b));
if (n > 0) {
for (uint8_t i=0; i<n; i++) {
rcp.process_byte(b[i], 100000);
AP::RC().process_byte(b[i], 100000);
}
}
}
@ -139,15 +139,15 @@ void RCInput_RCProtocol::_timer_tick(void)
ssize_t n = ::read(fd_115200, &b[0], sizeof(b));
if (n > 0) {
for (uint8_t i=0; i<n; i++) {
rcp.process_byte(b[i], 115200);
AP::RC().process_byte(b[i], 115200);
}
}
}
if (rcp.new_input()) {
uint8_t n = rcp.num_channels();
if (AP::RC().new_input()) {
uint8_t n = AP::RC().num_channels();
for (uint8_t i=0; i<n; i++) {
_pwm_values[i] = rcp.read(i);
_pwm_values[i] = AP::RC().read(i);
}
_num_channels = n;
rc_input_count++;

1
libraries/AP_HAL_Linux/RCInput_RCProtocol.h
View File

@ -43,7 +43,6 @@ private:
int fd_sbus;
int fd_115200;
AP_RCProtocol rcp;
};
};