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https://github.com/ArduPilot/ardupilot
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AP_HAL_F4Light: Remove RC overrides
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parent
45a13c868b
commit
dc4f1786f6
libraries/AP_HAL_F4Light
@ -58,9 +58,6 @@ uint8_t RCInput::_valid_channels IN_CCM; // = 0;
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uint64_t RCInput::_last_read IN_CCM; // = 0;
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uint16_t RCInput::_override[F4Light_RC_INPUT_NUM_CHANNELS] IN_CCM;
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bool RCInput::_override_valid;
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bool RCInput::is_PPM IN_CCM;
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uint8_t RCInput::_last_read_from IN_CCM;
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@ -88,8 +85,6 @@ RCInput::RCInput()
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void RCInput::init() {
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caddr_t ptr;
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memset((void *)&_override[0], 0, sizeof(_override));
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/* OPLINK AIR port pinout
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1 2 3 4 5 6 7
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PD2 PA15
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@ -104,8 +99,6 @@ for RFM int cs
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_last_read_from=0;
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max_num_pulses=0;
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clear_overrides();
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pwmInit(is_PPM); // PPM sum mode
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uint8_t pp=0;
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@ -150,8 +143,6 @@ void RCInput::late_init(uint8_t b) {
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// we can have 4 individual sources of data - internal DSM from UART5, SBUS from UART1 and 2 PPM parsers
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bool RCInput::new_input()
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{
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if(_override_valid) return true;
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uint8_t inp=hal_param_helper->_rc_input;
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if(inp && inp < num_parsers+1){
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inp-=1;
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@ -258,10 +249,6 @@ uint16_t RCInput::read(uint8_t ch)
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}
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}
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/* Check for override */
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uint16_t over = _override[ch];
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if(over) return over;
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if( ch == 4) {
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last_4 = data;
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}
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@ -314,27 +301,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
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return _valid_channels;
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}
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bool RCInput::set_override(uint8_t channel, int16_t override)
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{
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if (override < 0) return false; /* -1: no change. */
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if (channel < F4Light_RC_INPUT_NUM_CHANNELS) {
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_override[channel] = override;
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if (override != 0) {
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_override_valid = true;
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return true;
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}
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}
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return false;
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}
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void RCInput::clear_overrides()
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{
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for (int i = 0; i < F4Light_RC_INPUT_NUM_CHANNELS; i++) {
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set_override(i, 0);
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}
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}
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bool RCInput::rc_bind(int dsmMode){
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#ifdef BOARD_SPEKTRUM_RX_PIN
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return parsers[2]->bind(dsmMode); // only DSM
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@ -43,9 +43,6 @@ public:
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bool new_input() override;
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uint8_t num_channels() override;
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bool set_override(uint8_t channel, int16_t override) override;
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void clear_overrides() override;
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bool rc_bind(int dsmMode) override;
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static uint16_t max_num_pulses; // for statistics
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@ -66,10 +63,6 @@ private:
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static uint16_t last_4;
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/* override state */
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static uint16_t _override[F4Light_RC_INPUT_NUM_CHANNELS];
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static bool _override_valid;
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static bool rc_failsafe_enabled;
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static bool fs_flag, aibao_fs_flag;
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