Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

SRV_Channel: added get_output_channel_mask() 

will be used by AP_Motors
This commit is contained in:
Andrew Tridgell 2017-04-17 18:15:24 +10:00
parent aeb2a628c4
commit 39fd25bb36
2 changed files with 15 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/SRV_Channel/SRV_Channel.h
View File

@ -278,6 +278,9 @@ public:
// return zero on error.
static float get_output_norm(SRV_Channel::Aux_servo_function_t function);
// get output channel mask for a function
static uint16_t get_output_channel_mask(SRV_Channel::Aux_servo_function_t function);
// limit slew rate to given limit in percent per second
static void limit_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, float dt);

12
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -460,6 +460,18 @@ int16_t SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t functi
return 0;
}
/*
get mask of output channels for a function
*/
uint16_t SRV_Channels::get_output_channel_mask(SRV_Channel::Aux_servo_function_t function)
{
if (function < SRV_Channel::k_nr_aux_servo_functions) {
return functions[function].channel_mask;
}
return 0;
}
// set the trim for a function channel to given pwm
void SRV_Channels::set_trim_to_pwm_for(SRV_Channel::Aux_servo_function_t function, int16_t pwm)
{