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AP_HAL_Linux: Remove set_overrides() method

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This commit is contained in:
Michael du Breuil 2018-04-25 15:42:47 -07:00 committed by Francisco Ferreira
parent d54ef79798
commit 517e20093e
3 changed files with 9 additions and 14 deletions
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12
libraries/AP_HAL_Linux/RCInput.cpp
View File

@ -68,18 +68,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
return len; return len;
} }
bool RCInput::set_overrides(int16_t *overrides, uint8_t len)
{
bool res = false;
if(len > LINUX_RC_INPUT_NUM_CHANNELS){
len = LINUX_RC_INPUT_NUM_CHANNELS;
}
for (uint8_t i = 0; i < len; i++) {
res |= set_override(i, overrides[i]);
}
return res;
}
bool RCInput::set_override(uint8_t channel, int16_t override) bool RCInput::set_override(uint8_t channel, int16_t override)
{ {
if (override < 0) return false; /* -1: no change. */ if (override < 0) return false; /* -1: no change. */

1
libraries/AP_HAL_Linux/RCInput.h
View File

@ -26,7 +26,6 @@ public:
return _rssi; return _rssi;
} }
bool set_overrides(int16_t *overrides, uint8_t len);
bool set_override(uint8_t channel, int16_t override); bool set_override(uint8_t channel, int16_t override);
void clear_overrides(); void clear_overrides();

10
libraries/AP_HAL_Linux/RCOutput_qflight.cpp
View File

@ -19,6 +19,8 @@
*/ */
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <RC_Channel/RC_Channel.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
#include "RCOutput_qflight.h" #include "RCOutput_qflight.h"
@ -166,7 +168,13 @@ void RCOutput_QFLIGHT::check_rc_in(void)
} }
} }
if (have_data) { if (have_data) {
hal.rcin->set_overrides((int16_t*)rcu.rcin.rcin, 8); // FIXME: This is an incredibly dirty hack as this probhibits the usage of
// overrides if an RC reciever is connected, as the next RC input will
// stomp over the GCS set overrides. This results in incredibly confusing,
// undocumented behaviour, that cannot be reported to the user.
for (uint8_t i = 0; i < 8; i++) {
RC_Channels::set_override(i, rcu.rcin.rcin[i]);
}
} }
} }
nrcin_bytes = 0; nrcin_bytes = 0;