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AP_HAL_PX4: Remove RC overrides

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Michael du Breuil 2018-04-26 16:15:08 -07:00 committed by Andrew Tridgell
parent 737c4ac36f
commit 4d83644bd6
2 changed files with 2 additions and 45 deletions
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39
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -21,7 +21,6 @@ void PX4RCInput::init()
if (_rc_sub == -1) { if (_rc_sub == -1) {
AP_HAL::panic("Unable to subscribe to input_rc"); AP_HAL::panic("Unable to subscribe to input_rc");
} }
clear_overrides();
pthread_mutex_init(&rcin_mutex, nullptr); pthread_mutex_init(&rcin_mutex, nullptr);
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
@ -40,12 +39,7 @@ bool PX4RCInput::new_input()
// don't consider input valid if we are in RC failsafe. // don't consider input valid if we are in RC failsafe.
valid = false; valid = false;
} }
if (_override_valid) {
// if we have RC overrides active, then always consider it valid
valid = true;
}
_last_read = _rcin.timestamp_last_signal; _last_read = _rcin.timestamp_last_signal;
_override_valid = false;
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);
if (_rcin.input_source != last_input_source) { if (_rcin.input_source != last_input_source) {
gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", input_source_name(_rcin.input_source)); gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", input_source_name(_rcin.input_source));
@ -64,19 +58,10 @@ uint8_t PX4RCInput::num_channels()
uint16_t PX4RCInput::read(uint8_t ch) uint16_t PX4RCInput::read(uint8_t ch)
{ {
if (ch >= RC_INPUT_MAX_CHANNELS) { if (ch >= MIN(RC_INPUT_MAX_CHANNELS, _rcin.channel_count)) {
return 0; return 0;
} }
pthread_mutex_lock(&rcin_mutex); pthread_mutex_lock(&rcin_mutex);
if (_override[ch]) {
uint16_t v = _override[ch];
pthread_mutex_unlock(&rcin_mutex);
return v;
}
if (ch >= _rcin.channel_count) {
pthread_mutex_unlock(&rcin_mutex);
return 0;
}
uint16_t v = _rcin.values[ch]; uint16_t v = _rcin.values[ch];
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);
@ -101,28 +86,6 @@ uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
return len; return len;
} }
bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
if (override < 0) {
return false; /* -1: no change. */
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
return false;
}
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
return false;
}
void PX4RCInput::clear_overrides()
{
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
}
const char *PX4RCInput::input_source_name(uint8_t id) const const char *PX4RCInput::input_source_name(uint8_t id) const
{ {
switch(id) { switch(id) {

8
libraries/AP_HAL_PX4/RCInput.h
View File

@ -8,7 +8,7 @@
#ifndef RC_INPUT_MAX_CHANNELS #ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18 #define RC_INPUT_MAX_CHANNELS 18u
#endif #endif
class PX4::PX4RCInput : public AP_HAL::RCInput { class PX4::PX4RCInput : public AP_HAL::RCInput {
@ -23,21 +23,15 @@ public:
return _rssi; return _rssi;
} }
bool set_override(uint8_t channel, int16_t override) override;
void clear_overrides() override;
void _timer_tick(void); void _timer_tick(void);
bool rc_bind(int dsmMode) override; bool rc_bind(int dsmMode) override;
private: private:
/* override state */ /* override state */
uint16_t _override[RC_INPUT_MAX_CHANNELS];
struct rc_input_values _rcin; struct rc_input_values _rcin;
int _rc_sub; int _rc_sub;
uint64_t _last_read; uint64_t _last_read;
bool _override_valid;
perf_counter_t _perf_rcin; perf_counter_t _perf_rcin;
pthread_mutex_t rcin_mutex; pthread_mutex_t rcin_mutex;
int16_t _rssi = -1; int16_t _rssi = -1;