From 5f853768f4e3c8e87030973b05ae7d9963f29b0a Mon Sep 17 00:00:00 2001
From: "deweibel@gmail.com"
 <deweibel@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 28 Feb 2011 02:37:51 +0000
Subject: [PATCH] Add member/method to allow HIL to override radio values

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1732 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/APM_RC/APM_RC.cpp | 17 +++++++++++++++++
 libraries/APM_RC/APM_RC.h   |  4 ++++
 2 files changed, 21 insertions(+)

diff --git a/libraries/APM_RC/APM_RC.cpp b/libraries/APM_RC/APM_RC.cpp
index 5ff4e093b6..c62b68db77 100644
--- a/libraries/APM_RC/APM_RC.cpp
+++ b/libraries/APM_RC/APM_RC.cpp
@@ -150,6 +150,10 @@ uint16_t APM_RC_Class::InputCh(unsigned char ch)
   uint16_t result;
   uint16_t result2;
   
+	if (_HIL_override[ch] != 0) {
+		return _HIL_override[ch];
+	}
+	
   // Because servo pulse variables are 16 bits and the interrupts are running values could be corrupted.
   // We dont want to stop interrupts to read radio channels so we have to do two readings to be sure that the value is correct...
   result =  PWM_RAW[ch]>>1;  // Because timer runs at 0.5us we need to do value/2
@@ -188,6 +192,19 @@ void APM_RC_Class::Force_Out6_Out7(void)
     TCNT3=39990;
 }
 
+// allow HIL override of RC values
+// A value of -1 means no change
+// A value of 0 means no override, use the real RC values
+void APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
+{
+	for (unsigned char i=0; i<NUM_CHANNELS; i++) {
+		if (v[i] != -1) {
+			_HIL_override[i] = v[i];
+		}
+	}
+	radio_status = 1;
+}
+
 // make one instance for the user to use
 APM_RC_Class APM_RC;
 
diff --git a/libraries/APM_RC/APM_RC.h b/libraries/APM_RC/APM_RC.h
index 9d81b38fcf..238d0b8a53 100644
--- a/libraries/APM_RC/APM_RC.h
+++ b/libraries/APM_RC/APM_RC.h
@@ -19,6 +19,10 @@ class APM_RC_Class
 	void Force_Out0_Out1(void);
 	void Force_Out2_Out3(void);
 	void Force_Out6_Out7(void);
+	void setHIL(int16_t v[NUM_CHANNELS]);
+
+  private:
+	int16_t _HIL_override[NUM_CHANNELS];
 };
 
 extern APM_RC_Class APM_RC;