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AP_HAL_ChibiOS: Remove RC overrides

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Michael du Breuil 2018-04-26 16:15:19 -07:00 committed by Andrew Tridgell
parent 4d83644bd6
commit 593da25a7a
2 changed files with 3 additions and 53 deletions
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49
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -25,6 +25,8 @@
extern AP_IOMCU iomcu;
#endif
#include <AP_Math/AP_Math.h>
#define SIG_DETECT_TIMEOUT_US 500000
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
@ -54,12 +56,7 @@ bool RCInput::new_input()
}
bool valid = _rcin_timestamp_last_signal != _last_read;
if (_override_valid) {
// if we have RC overrides active, then always consider it valid
valid = true;
}
_last_read = _rcin_timestamp_last_signal;
_override_valid = false;
rcin_mutex.give();
#if HAL_RCINPUT_WITH_AP_RADIO
@ -84,22 +81,10 @@ uint8_t RCInput::num_channels()
uint16_t RCInput::read(uint8_t channel)
{
if (!_init) {
return 0;
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
if (!_init || (channel >= MIN(RC_INPUT_MAX_CHANNELS, _num_channels))) {
return 0;
}
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
if (_override[channel]) {
uint16_t v = _override[channel];
rcin_mutex.give();
return v;
}
if (channel >= _num_channels) {
rcin_mutex.give();
return 0;
}
uint16_t v = _rc_values[channel];
rcin_mutex.give();
#if HAL_RCINPUT_WITH_AP_RADIO
@ -126,34 +111,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
return len;
}
bool RCInput::set_override(uint8_t channel, int16_t override)
{
if (!_init) {
return false;
}
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 RCInput::clear_overrides()
{
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
}
void RCInput::_timer_tick(void)
{
if (!_init) {

7
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -50,20 +50,13 @@ public:
return _rssi;
}
bool set_override(uint8_t channel, int16_t override) override;
void clear_overrides() override;
void _timer_tick(void);
bool rc_bind(int dsmMode) override;
private:
/* override state */
uint16_t _override[RC_INPUT_MAX_CHANNELS];
uint16_t _rc_values[RC_INPUT_MAX_CHANNELS] = {0};
uint64_t _last_read;
bool _override_valid;
uint8_t _num_channels;
Semaphore rcin_mutex;
int16_t _rssi = -1;