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HAL_Empty: allow return of last value in RCOutput

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this is needed for linux boards with no native RCOutput that use SBUS
out on a serial port to ensure they can display the servo values in
the GCS
This commit is contained in:
Andrew Tridgell 2021-01-15 08:44:28 +11:00
parent 1ce77111e5
commit dff6a5bff9
2 changed files with 17 additions and 3 deletions
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18
libraries/AP_HAL_Empty/RCOutput.cpp
View File

@ -1,5 +1,6 @@
#include "RCOutput.h" #include "RCOutput.h"
#include <AP_Math/AP_Math.h>
using namespace Empty; using namespace Empty;
@ -18,12 +19,23 @@ void RCOutput::disable_ch(uint8_t chan)
{} {}
void RCOutput::write(uint8_t chan, uint16_t period_us) void RCOutput::write(uint8_t chan, uint16_t period_us)
{} {
if (chan < ARRAY_SIZE(value)) {
value[chan] = period_us;
}
}
uint16_t RCOutput::read(uint8_t chan) { uint16_t RCOutput::read(uint8_t chan)
{
if (chan < ARRAY_SIZE(value)) {
return value[chan];
}
return 900; return 900;
} }
void RCOutput::read(uint16_t* period_us, uint8_t len) void RCOutput::read(uint16_t* period_us, uint8_t len)
{} {
len = MIN(len, ARRAY_SIZE(value));
memcpy(period_us, value, len*sizeof(value[0]));
}

2
libraries/AP_HAL_Empty/RCOutput.h
View File

@ -13,4 +13,6 @@ class Empty::RCOutput : public AP_HAL::RCOutput {
void read(uint16_t* period_us, uint8_t len) override; void read(uint16_t* period_us, uint8_t len) override;
void cork(void) override {} void cork(void) override {}
void push(void) override {} void push(void) override {}
private:
uint16_t value[16];
}; };