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AP_HAL_SITL: add support for RC input from SITL FDM data

This commit is contained in:
Peter Barker 2024-03-14 16:47:43 +11:00 committed by Peter Barker
parent 729c911462
commit db0188d3a3
1 changed files with 5 additions and 37 deletions
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42
libraries/AP_HAL_SITL/RCInput.cpp
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@ -3,9 +3,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RCPROTOCOL_ENABLED #if CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RCPROTOCOL_ENABLED
#include "RCInput.h" #include "RCInput.h"
#include <SITL/SITL.h>
#include <AP_RCProtocol/AP_RCProtocol.h> #include <AP_RCProtocol/AP_RCProtocol.h>
using namespace HALSITL; using namespace HALSITL;
@ -19,53 +17,23 @@ void RCInput::init()
bool RCInput::new_input() bool RCInput::new_input()
{ {
if (!using_rc_protocol) { return AP::RC().new_input();
if (AP::RC().new_input()) {
using_rc_protocol = true;
}
}
if (using_rc_protocol) {
return AP::RC().new_input();
}
if (_sitlState->new_rc_input) {
_sitlState->new_rc_input = false;
return true;
}
return false;
} }
uint16_t RCInput::read(uint8_t ch) uint16_t RCInput::read(uint8_t ch)
{ {
if (using_rc_protocol) { return AP::RC().read(ch);
return AP::RC().read(ch);
}
if (ch >= num_channels()) {
return 0;
}
return _sitlState->pwm_input[ch];
} }
uint8_t RCInput::read(uint16_t* periods, uint8_t len) uint8_t RCInput::read(uint16_t* periods, uint8_t len)
{ {
if (len > num_channels()) { AP::RC().read(periods, len);
len = num_channels(); return MIN(len, num_channels());
}
for (uint8_t i=0; i < len; i++) {
periods[i] = read(i);
}
return len;
} }
uint8_t RCInput::num_channels() uint8_t RCInput::num_channels()
{ {
if (using_rc_protocol) { return AP::RC().num_channels();
return AP::RC().num_channels();
}
SITL::SIM *_sitl = AP::sitl();
if (_sitl) {
return MIN(_sitl->rc_chancount.get(), SITL_RC_INPUT_CHANNELS);
}
return SITL_RC_INPUT_CHANNELS;
} }
#endif #endif