From 4558742e39ffc243277dcd07c34b813d24e516e3 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Mon, 26 Sep 2022 12:52:40 -0300 Subject: [PATCH] HAL_Linux: add RC in driver for Navigator --- libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 3 ++- libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp | 3 ++- libraries/AP_HAL_Linux/RCInput_RCProtocol.h | 3 ++- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index b9a73248ba..7a425298be 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -170,7 +170,8 @@ static RCInput_SoloLink rcinDriver; static RCInput_Navio2 rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL}; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \ + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR // this is needed to allow for RC input using SERIALn_PROTOCOL=23. No fd is opened // in the linux driver and instead user needs to provide a uart via SERIALn_PROTOCOL static RCInput_RCProtocol rcinDriver{nullptr, nullptr}; diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp index 1880003e43..b89d0b4539 100644 --- a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp +++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp @@ -32,7 +32,8 @@ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \ + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR extern const AP_HAL::HAL& hal; diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h index 4fa6cafcf7..0f64683459 100644 --- a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h +++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h @@ -22,7 +22,8 @@ #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \ + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR namespace Linux {