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AP_ServoRelayEvents: adapt to new RC_Channel API

This commit is contained in:
Andrew Tridgell 2017-01-05 16:13:15 +11:00
parent 7706741b9b
commit f73f3bedda
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.cpp
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@ -21,6 +21,7 @@
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include "AP_ServoRelayEvents.h" #include "AP_ServoRelayEvents.h"
#include <RC_Channel/RC_Channel.h> #include <RC_Channel/RC_Channel.h>
#include <SRV_Channel/SRV_Channel.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -102,13 +103,17 @@ void AP_ServoRelayEvents::update_events(void)
return; return;
} }
if (channel > NUM_SERVO_CHANNELS || channel == 0) {
return;
}
start_time_ms = AP_HAL::millis(); start_time_ms = AP_HAL::millis();
switch (type) { switch (type) {
case EVENT_TYPE_SERVO: case EVENT_TYPE_SERVO:
hal.rcout->enable_ch(channel-1); hal.rcout->enable_ch(channel-1);
if (repeat & 1) { if (repeat & 1) {
hal.rcout->write(channel-1, RC_Channel::rc_channel(channel-1)->get_radio_trim()); hal.rcout->write(channel-1, SRV_Channels::srv_channel(channel-1)->get_output_pwm());
} else { } else {
hal.rcout->write(channel-1, servo_value); hal.rcout->write(channel-1, servo_value);
} }