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RC_Channel: added output_trim() and read() functions

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these make using rcmap in the plane code easier
This commit is contained in:
Andrew Tridgell 2013-06-03 16:12:02 +10:00
parent 033828aeb6
commit c0058bbb03
2 changed files with 15 additions and 2 deletions
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13
libraries/RC_Channel/RC_Channel.cpp
View File

@ -336,17 +336,28 @@ RC_Channel::norm_output()
return ret; return ret;
} }
void RC_Channel::output() void RC_Channel::output() const
{ {
hal.rcout->write(_ch_out, radio_out); hal.rcout->write(_ch_out, radio_out);
} }
void RC_Channel::output_trim() const
{
hal.rcout->write(_ch_out, radio_trim);
}
void void
RC_Channel::input() RC_Channel::input()
{ {
radio_in = hal.rcin->read(_ch_out); radio_in = hal.rcin->read(_ch_out);
} }
uint16_t
RC_Channel::read() const
{
return hal.rcin->read(_ch_out);
}
void void
RC_Channel::enable_out() RC_Channel::enable_out()
{ {

4
libraries/RC_Channel/RC_Channel.h
View File

@ -95,7 +95,9 @@ public:
int16_t pwm_to_range_dz(uint16_t dead_zone); int16_t pwm_to_range_dz(uint16_t dead_zone);
int16_t range_to_pwm(); int16_t range_to_pwm();
void output(); void output() const;
void output_trim() const;
uint16_t read() const;
void input(); void input();
void enable_out(); void enable_out();