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AP_HAL_ChibiOS: HAL_RCINPUT_WITH_AP_RADIO definition

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This commit is contained in:
Eugene Shamaev 2018-03-11 16:47:54 +02:00 committed by Randy Mackay
parent 7a67c82026
commit 4ab2ff8c81
2 changed files with 6 additions and 6 deletions
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8
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -62,7 +62,7 @@ bool RCInput::new_input()
_override_valid = false; _override_valid = false;
rcin_mutex.give(); rcin_mutex.give();
#ifdef HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (!_radio_init) { if (!_radio_init) {
_radio_init = true; _radio_init = true;
radio = AP_Radio::instance(); radio = AP_Radio::instance();
@ -102,7 +102,7 @@ uint16_t RCInput::read(uint8_t channel)
} }
uint16_t v = _rc_values[channel]; uint16_t v = _rc_values[channel];
rcin_mutex.give(); rcin_mutex.give();
#ifdef HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio && channel == 0) { if (radio && channel == 0) {
// hook to allow for update of radio on main thread, for mavlink sends // hook to allow for update of radio on main thread, for mavlink sends
radio->update(); radio->update();
@ -177,7 +177,7 @@ void RCInput::_timer_tick(void)
} }
#endif #endif
#ifdef HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) { if (radio && radio->last_recv_us() != last_radio_us) {
last_radio_us = radio->last_recv_us(); last_radio_us = radio->last_recv_us();
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER); rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
@ -214,7 +214,7 @@ bool RCInput::rc_bind(int dsmMode)
rcin_prot.start_bind(); rcin_prot.start_bind();
#endif #endif
#ifdef HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio) { if (radio) {
radio->start_recv_bind(); radio->start_recv_bind();
} }

4
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -19,7 +19,7 @@
#include "AP_HAL_ChibiOS.h" #include "AP_HAL_ChibiOS.h"
#include "Semaphores.h" #include "Semaphores.h"
#ifdef HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
#include <AP_Radio/AP_Radio.h> #include <AP_Radio/AP_Radio.h>
#endif #endif
@ -69,7 +69,7 @@ private:
int16_t _rssi = -1; int16_t _rssi = -1;
uint32_t _rcin_timestamp_last_signal; uint32_t _rcin_timestamp_last_signal;
bool _init; bool _init;
#ifdef HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
bool _radio_init; bool _radio_init;
AP_Radio *radio; AP_Radio *radio;
uint32_t last_radio_us; uint32_t last_radio_us;