mirror of https://github.com/ArduPilot/ardupilot
28 lines
603 B
C++
28 lines
603 B
C++
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#define SITL_RC_INPUT_CHANNELS 16
|
|
|
|
#include "AP_HAL_SITL.h"
|
|
|
|
class HALSITL::RCInput : public AP_HAL::RCInput {
|
|
public:
|
|
explicit RCInput(SITL_State *sitlState): _sitlState(sitlState) {}
|
|
void init() override;
|
|
bool new_input() override;
|
|
uint8_t num_channels() override;
|
|
uint16_t read(uint8_t ch) override;
|
|
uint8_t read(uint16_t* periods, uint8_t len) override;
|
|
|
|
const char *protocol() const override { return "SITL"; }
|
|
|
|
private:
|
|
SITL_State *_sitlState;
|
|
bool using_rc_protocol;
|
|
};
|
|
|
|
#endif
|
|
|