mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
1f0908bba2
Rover: use base-class auxsw handling Rover: factor out do_aux_function_change_mode Rover: move mode number enumeration to be in Mode:: namespace Rover: move mode switch handling to RC_Channel Rover: rename control_modes.cpp to RC_Channel.cpp Rover: move motor_active() to be a method on the motors class
44 lines
952 B
C++
44 lines
952 B
C++
#pragma once
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#include <RC_Channel/RC_Channel.h>
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#include "Rover.h"
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#include "mode.h"
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class RC_Channel_Rover : public RC_Channel
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{
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public:
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protected:
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void init_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
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void do_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
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// called when the mode switch changes position:
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void mode_switch_changed(modeswitch_pos_t new_pos) override;
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private:
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void do_aux_function_change_mode(Mode &mode,
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const aux_switch_pos_t ch_flag);
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};
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class RC_Channels_Rover : public RC_Channels
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{
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bool has_valid_input() const override;
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int8_t flight_mode_channel_number() const override;
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public:
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RC_Channel_Rover obj_channels[NUM_RC_CHANNELS];
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RC_Channel_Rover *channel(const uint8_t chan) override {
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if (chan > NUM_RC_CHANNELS) {
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return nullptr;
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}
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return &obj_channels[chan];
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}
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};
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