mirror of https://github.com/ArduPilot/ardupilot
47 lines
862 B
C++
47 lines
862 B
C++
#ifndef RC_h
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#define RC_h
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#include <inttypes.h>
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#include "WProgram.h"
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#define CH1 0
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#define CH2 1
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#define CH3 2
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#define CH4 3
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#define CH5 4
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#define CH6 5
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#define CH7 6
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#define CH8 7
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#define MIN_PULSEWIDTH 900
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#define MAX_PULSEWIDTH 2100
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#define ELEVONS 1
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class RC
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{
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public:
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// RC();
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virtual void init();
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virtual void trim();
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virtual void read();
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virtual void output();
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virtual void set_channel_direction(uint8_t ch, int8_t dir);
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virtual void set_ch_pwm(uint8_t ch, uint16_t pwm);
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virtual void twitch_servos(void);
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void set_failsafe(uint16_t fs);
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void set_mix_mode(uint8_t mode);
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uint8_t failsafe;
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protected:
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void check_throttle_failsafe(uint16_t throttle);
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uint8_t _fs_counter;
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uint8_t _mix_mode; // 0 = normal, 1 = elevons
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uint8_t _direction_mask;
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uint16_t _fs_value; // PWM value to trigger failsafe flag
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};
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#endif
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