Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

RC_Channel: add get_channel_pos function

Browse Source
This commit is contained in:
Tatsuya Yamaguchi 2020-05-02 23:08:50 +09:00 committed by Randy Mackay
parent de854a2ffe
commit 806bd38c7f
2 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/RC_Channel/RC_Channel.cpp
View File

@ -997,6 +997,14 @@ RC_Channel::aux_switch_pos_t RC_Channel::get_aux_switch_pos() const
return position; return position;
} }
// return switch position value as LOW, MIDDLE, HIGH
// if reading the switch fails then it returns LOW
RC_Channel::aux_switch_pos_t RC_Channels::get_channel_pos(const uint8_t rcmapchan) const
{
const RC_Channel* chan = rc().channel(rcmapchan-1);
return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::aux_switch_pos_t::LOW;
}
RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option) RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)
{ {
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) { for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {

1
libraries/RC_Channel/RC_Channel.h
View File

@ -324,6 +324,7 @@ public:
class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option); class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
bool duplicate_options_exist(); bool duplicate_options_exist();
RC_Channel::aux_switch_pos_t get_channel_pos(const uint8_t rcmapchan) const;
void init_aux_all(); void init_aux_all();
void read_aux_all(); void read_aux_all();