mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.1 KiB
C++
78 lines
2.1 KiB
C++
/*
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simple test of RC input interface
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL_AVR/AP_HAL_AVR.h>
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#include <AP_HAL_SITL/AP_HAL_SITL.h>
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#include <AP_HAL_PX4/AP_HAL_PX4.h>
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#include <AP_HAL_Linux/AP_HAL_Linux.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_ADC/AP_ADC.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Notify/AP_Notify.h>
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#include <DataFlash/DataFlash.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Mission/AP_Mission.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Declination/AP_Declination.h>
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#include <SITL/SITL.h>
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#include <Filter/Filter.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
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#include <AP_NavEKF/AP_NavEKF.h>
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#include <AP_Rally/AP_Rally.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_HAL/UARTDriver.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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#define MAX_CHANNELS 16
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static uint8_t max_channels = 0;
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static uint16_t last_value[MAX_CHANNELS];
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void setup(void)
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{
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hal.console->printf("Starting RCInput test\n");
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}
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void loop(void)
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{
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bool changed = false;
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uint8_t nchannels = hal.rcin->num_channels();
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if (nchannels > MAX_CHANNELS) {
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nchannels = MAX_CHANNELS;
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}
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for (uint8_t i=0; i<nchannels; i++) {
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uint16_t v = hal.rcin->read(i);
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if (last_value[i] != v) {
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changed = true;
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last_value[i] = v;
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}
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if (i > max_channels) {
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max_channels = i;
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}
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}
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if (changed) {
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for (uint8_t i=0; i<max_channels; i++) {
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hal.console->printf("%2u:%04u ", (unsigned)i+1, (unsigned)last_value[i]);
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}
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hal.console->println();
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}
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hal.scheduler->delay(100);
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}
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AP_HAL_MAIN();
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