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HAL_SITL: use SIM_RC_CHANCOUNT

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This commit is contained in:
Andrew Tridgell 2018-07-24 12:46:31 +10:00
parent 128ea42286
commit b130036798
2 changed files with 14 additions and 6 deletions
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16
libraries/AP_HAL_SITL/RCInput.cpp
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@ -2,6 +2,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "RCInput.h" #include "RCInput.h"
#include <SITL/SITL.h>
using namespace HALSITL; using namespace HALSITL;
@ -22,7 +23,7 @@ bool RCInput::new_input()
uint16_t RCInput::read(uint8_t ch) uint16_t RCInput::read(uint8_t ch)
{ {
if (ch >= SITL_RC_INPUT_CHANNELS) { if (ch >= num_channels()) {
return 0; return 0;
} }
return _sitlState->pwm_input[ch]; return _sitlState->pwm_input[ch];
@ -30,8 +31,8 @@ uint16_t RCInput::read(uint8_t ch)
uint8_t RCInput::read(uint16_t* periods, uint8_t len) uint8_t RCInput::read(uint16_t* periods, uint8_t len)
{ {
if (len > SITL_RC_INPUT_CHANNELS) { if (len > num_channels()) {
len = SITL_RC_INPUT_CHANNELS; len = num_channels();
} }
for (uint8_t i=0; i < len; i++) { for (uint8_t i=0; i < len; i++) {
periods[i] = read(i); periods[i] = read(i);
@ -39,4 +40,13 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
return len; return len;
} }
uint8_t RCInput::num_channels()
{
SITL::SITL *_sitl = AP::sitl();
if (_sitl) {
return MIN(_sitl->rc_chancount.get(), SITL_RC_INPUT_CHANNELS);
}
return SITL_RC_INPUT_CHANNELS;
}
#endif #endif

4
libraries/AP_HAL_SITL/RCInput.h
View File

@ -12,9 +12,7 @@ public:
explicit RCInput(SITL_State *sitlState): _sitlState(sitlState) {} explicit RCInput(SITL_State *sitlState): _sitlState(sitlState) {}
void init() override; void init() override;
bool new_input() override; bool new_input() override;
uint8_t num_channels() override { uint8_t num_channels() override;
return SITL_RC_INPUT_CHANNELS;
}
uint16_t read(uint8_t ch) override; uint16_t read(uint8_t ch) override;
uint8_t read(uint16_t* periods, uint8_t len) override; uint8_t read(uint16_t* periods, uint8_t len) override;