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RC_Channel: add flight mode conflict check

This commit is contained in:
Tatsuya Yamaguchi 2021-06-17 10:13:54 +09:00 committed by Peter Barker
parent d599052da3
commit 5a8ebeda1d
2 changed files with 18 additions and 2 deletions
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9
libraries/RC_Channel/RC_Channel.h
View File

@ -511,6 +511,13 @@ public:
return rc_channel(0)->run_aux_function(ch_option, pos, source);
}
// check if flight mode channel is assigned RC option
// return true if assigned
bool flight_mode_channel_conflicts_with_rc_option();
// flight_mode_channel_number must be overridden in vehicle specific code
virtual int8_t flight_mode_channel_number() const = 0;
protected:
enum class Option {
@ -542,8 +549,6 @@ private:
AP_Int32 _options;
AP_Int32 _protocols;
// flight_mode_channel_number must be overridden in vehicle specific code
virtual int8_t flight_mode_channel_number() const = 0;
RC_Channel *flight_mode_channel();
// Allow override by default at start

11
libraries/RC_Channel/RC_Channels.cpp
View File

@ -217,6 +217,17 @@ void RC_Channels::read_mode_switch()
c->read_mode_switch();
}
// check if flight mode channel is assigned RC option
// return true if assigned
bool RC_Channels::flight_mode_channel_conflicts_with_rc_option()
{
RC_Channel *chan = flight_mode_channel();
if (chan == nullptr) {
return false;
}
return (RC_Channel::aux_func_t)chan->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING;
}
/*
get the RC input PWM value given a channel number. Note that
channel numbers start at 1, as this API is designed for use in