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AP_HAL: add RCOutput::read_last_sent definition

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This commit is contained in:
Jonathan Challinger 2016-03-10 13:55:42 -08:00
parent 7b4a4f6232
commit 6663d30728
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_HAL/RCOutput.h
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@ -67,10 +67,16 @@ public:
virtual void push() { }
/* Read back current output state, as either single channel or
* array of channels. */
* array of channels. On boards that have a separate IO controller,
* this returns the latest output value that the IO controller has
* reported */
virtual uint16_t read(uint8_t ch) = 0;
virtual void read(uint16_t* period_us, uint8_t len) = 0;
/* Read the current input state. This returns the last value that was written. */
virtual uint16_t read_last_sent(uint8_t ch) { return read(ch); }
virtual void read_last_sent(uint16_t* period_us, uint8_t len) { read(period_us, len); };
/*
set PWM to send to a set of channels when the safety switch is
in the safe state