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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
This commit is contained in:
deweibel@gmail.com 2011-02-28 02:37:51 +00:00
parent 9b96d44343
commit 5f853768f4
2 changed files with 21 additions and 0 deletions
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17
libraries/APM_RC/APM_RC.cpp
View File

@ -150,6 +150,10 @@ uint16_t APM_RC_Class::InputCh(unsigned char ch)
uint16_t result; uint16_t result;
uint16_t result2; 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. // 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... // 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 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; 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 // make one instance for the user to use
APM_RC_Class APM_RC; APM_RC_Class APM_RC;

4
libraries/APM_RC/APM_RC.h
View File

@ -19,6 +19,10 @@ 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]);
private:
int16_t _HIL_override[NUM_CHANNELS];
}; };
extern APM_RC_Class APM_RC; extern APM_RC_Class APM_RC;