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AP_RCProtocol: added failsafe_active() API

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This commit is contained in:
Andrew Tridgell 2022-03-16 21:02:19 +11:00
parent e8115a99bc
commit 522173328c
2 changed files with 13 additions and 1 deletions
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8
libraries/AP_RCProtocol/AP_RCProtocol.h
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@ -67,6 +67,13 @@ public:
void process_handshake(uint32_t baudrate);
void update(void);
bool failsafe_active() const {
return _failsafe_active;
}
void set_failsafe_active(bool active) {
_failsafe_active = active;
}
void disable_for_pulses(enum rcprotocol_t protocol) {
_disabled_for_pulses |= (1U<<(uint8_t)protocol);
}
@ -147,6 +154,7 @@ private:
AP_RCProtocol_Backend *backend[NONE];
bool _new_input;
uint32_t _last_input_ms;
bool _failsafe_active;
bool _valid_serial_prot;
// optional additional uart

6
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
View File

@ -64,7 +64,11 @@ void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool
memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
_num_channels = num_values;
rc_frame_count++;
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
frontend.set_failsafe_active(in_failsafe);
#if APM_BUILD_TYPE(APM_BUILD_iofirmware)
// failsafed is sorted out in AP_IOMCU.cpp
in_failsafe = false;
#else
if (rc().ignore_rc_failsafe()) {
in_failsafe = false;
}