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SRV_Channel: added get_output_pwm_chan() for scripting 

allows for servo drivers to be written in lua
This commit is contained in:
Andrew Tridgell 2024-11-19 13:55:14 +11:00
parent 2f9ff3ef73
commit d6b38f4009
2 changed files with 13 additions and 0 deletions
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3
libraries/SRV_Channel/SRV_Channel.h
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@ -373,6 +373,9 @@ public:
// set output value for a specific function channel as a pwm value // set output value for a specific function channel as a pwm value
static void set_output_pwm_chan(uint8_t chan, uint16_t value); static void set_output_pwm_chan(uint8_t chan, uint16_t value);
// get output value for a specific channel as a pwm value
static bool get_output_pwm_chan(uint8_t chan, uint16_t &value);
// set output value for a specific function channel as a pwm value for specified override time in ms // set output value for a specific function channel as a pwm value for specified override time in ms
static void set_output_pwm_chan_timeout(uint8_t chan, uint16_t value, uint16_t timeout_ms); static void set_output_pwm_chan_timeout(uint8_t chan, uint16_t value, uint16_t timeout_ms);

10
libraries/SRV_Channel/SRV_Channels.cpp
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@ -434,6 +434,16 @@ void SRV_Channels::set_output_pwm_chan(uint8_t chan, uint16_t value)
} }
} }
// get output value for a specific channel as a pwm value
bool SRV_Channels::get_output_pwm_chan(uint8_t chan, uint16_t &value)
{
if (chan >= NUM_SERVO_CHANNELS) {
return false;
}
value = channels[chan].get_output_pwm();
return true;
}
#if AP_SCRIPTING_ENABLED && AP_SCHEDULER_ENABLED #if AP_SCRIPTING_ENABLED && AP_SCHEDULER_ENABLED
// set output value for a specific function channel as a pwm value with loop based timeout // set output value for a specific function channel as a pwm value with loop based timeout
// timeout_ms of zero will clear override of the channel // timeout_ms of zero will clear override of the channel