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Change setHIL to return a bool based on if GCS joystick control is active 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2423 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
deweibel@gmail.com 2011-05-27 23:15:29 +00:00
parent 4c52712f52
commit 5d5b51cbe6
2 changed files with 11 additions and 2 deletions
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11
libraries/APM_RC/APM_RC.cpp
View File

@ -195,12 +195,21 @@ void APM_RC_Class::Force_Out6_Out7(void)
// allow HIL override of RC values // allow HIL override of RC values
// A value of -1 means no change // A value of -1 means no change
// A value of 0 means no override, use the real RC values // A value of 0 means no override, use the real RC values
void APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS]) bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
{ {
uint8_t sum = 0;
for (unsigned char i=0; i<NUM_CHANNELS; i++) { for (unsigned char i=0; i<NUM_CHANNELS; i++) {
if (v[i] != -1) { if (v[i] != -1) {
_HIL_override[i] = v[i]; _HIL_override[i] = v[i];
} }
if (_HIL_override[i] != 0) {
sum++;
}
if (sum == 0) {
return 0;
} else {
return 1;
}
} }
radio_status = 1; radio_status = 1;
} }

2
libraries/APM_RC/APM_RC.h
View File

@ -19,7 +19,7 @@ class APM_RC_Class
void Force_Out0_Out1(void); void Force_Out0_Out1(void);
void Force_Out2_Out3(void); void Force_Out2_Out3(void);
void Force_Out6_Out7(void); void Force_Out6_Out7(void);
void setHIL(int16_t v[NUM_CHANNELS]); bool setHIL(int16_t v[NUM_CHANNELS]);
private: private:
int16_t _HIL_override[NUM_CHANNELS]; int16_t _HIL_override[NUM_CHANNELS];