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RC_Channel: add method to check if override hads ever been recived

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Iampete1 2022-10-09 01:33:12 +01:00 committed by Peter Hall
parent fe539e8bb2
commit 93b1825414
1 changed files with 5 additions and 0 deletions
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5
libraries/RC_Channel/RC_Channel.h
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@ -559,6 +559,9 @@ public:
// returns true if we have had a direct detach RC reciever, does not include overrides // returns true if we have had a direct detach RC reciever, does not include overrides
bool has_had_rc_receiver() const { return _has_had_rc_receiver; } bool has_had_rc_receiver() const { return _has_had_rc_receiver; }
// returns true if we have had an override on any channel
bool has_had_rc_override() const { return _has_had_override; }
/* /*
get the RC input PWM value given a channel number. Note that get the RC input PWM value given a channel number. Note that
channel numbers start at 1, as this API is designed for use in channel numbers start at 1, as this API is designed for use in
@ -604,6 +607,7 @@ protected:
void new_override_received() { void new_override_received() {
has_new_overrides = true; has_new_overrides = true;
_has_had_override = true;
} }
private: private:
@ -614,6 +618,7 @@ private:
uint32_t last_update_ms; uint32_t last_update_ms;
bool has_new_overrides; bool has_new_overrides;
bool _has_had_rc_receiver; // true if we have had a direct detach RC reciever, does not include overrides bool _has_had_rc_receiver; // true if we have had a direct detach RC reciever, does not include overrides
bool _has_had_override; // true if we have had an override on any channel
AP_Float _override_timeout; AP_Float _override_timeout;
AP_Int32 _options; AP_Int32 _options;