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RC_Channel: added setup_failsafe_trim_mask()

This commit is contained in:
Andrew Tridgell 2016-06-30 16:46:57 +10:00
parent 8fd31111ad
commit 934d2b6ae4
2 changed files with 14 additions and 5 deletions
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18
libraries/RC_Channel/RC_Channel.cpp
View File

@ -496,16 +496,24 @@ void RC_Channel::output_trim_all()
}
}
/*
setup the failsafe value to the trim value for all channels in chmask
*/
void RC_Channel::setup_failsafe_trim_mask(uint16_t chmask)
{
for (uint8_t i=0; i<RC_MAX_CHANNELS; i++) {
if (_rc_ch[i] != NULL && ((1U<<i)&chmask)) {
hal.rcout->set_failsafe_pwm(1U<<i, _rc_ch[i]->_radio_trim);
}
}
}
/*
setup the failsafe value to the trim value for all channels
*/
void RC_Channel::setup_failsafe_trim_all()
{
for (uint8_t i=0; i<RC_MAX_CHANNELS; i++) {
if (_rc_ch[i] != NULL) {
hal.rcout->set_failsafe_pwm(1U<<i, _rc_ch[i]->_radio_trim);
}
}
setup_failsafe_trim_mask(0xFFFF);
}
void

1
libraries/RC_Channel/RC_Channel.h
View File

@ -108,6 +108,7 @@ public:
void output() const;
void output_trim() const;
static void output_trim_all();
static void setup_failsafe_trim_mask(uint16_t chmask);
static void setup_failsafe_trim_all();
uint16_t read() const;
void input();