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SRV_Channel: added copy_radio_in_out_mask()

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This commit is contained in:
Andrew Tridgell 2017-07-10 16:59:53 +10:00
parent fedd2c558c
commit 99f5229a34
2 changed files with 22 additions and 1 deletions
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5
libraries/SRV_Channel/SRV_Channel.h
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@ -328,9 +328,12 @@ public:
// set output to trim value
static void set_output_to_trim(SRV_Channel::Aux_servo_function_t function);
// copy radio_in to radio_out
// copy radio_in to servo out
static void copy_radio_in_out(SRV_Channel::Aux_servo_function_t function, bool do_input_output=false);
// copy radio_in to servo_out by channel mask
static void copy_radio_in_out_mask(uint16_t mask);
// setup failsafe for an auxiliary channel function, by pwm
static void set_failsafe_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t pwm);

18
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -255,6 +255,24 @@ SRV_Channels::copy_radio_in_out(SRV_Channel::Aux_servo_function_t function, bool
}
}
/*
copy radio_in to radio_out for a channel mask
*/
void
SRV_Channels::copy_radio_in_out_mask(uint16_t mask)
{
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
if ((1U<<i) & mask) {
RC_Channel *rc = RC_Channels::rc_channel(channels[i].ch_num);
if (rc == nullptr) {
continue;
}
channels[i].set_output_pwm(rc->get_radio_in());
}
}
}
/*
setup failsafe value for an auxiliary function type to a LimitValue
*/