mirror of https://github.com/ArduPilot/ardupilot
53 lines
855 B
C
53 lines
855 B
C
/*
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RC input emulation
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Code by Andrew Tridgell November 2011
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*/
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#ifndef _SITL_RC_H
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#define _SITL_RC_H
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struct RC_ICR4 {
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uint16_t channels[9]; // 9th channel is sync
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uint32_t value;
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uint8_t idx;
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RC_ICR4() {
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// constructor
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channels[0] = channels[1] = channels[3] = 1500;
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channels[4] = channels[7] = 1800;
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channels[2] = channels[5] = channels[6] = 1000;
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channels[8] = 4500; // sync
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idx = 0;
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}
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/*
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read from ICR4 fetches next channel
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*/
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operator int() {
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value += channels[idx++]*2;
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if (idx == 9) {
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idx = 0;
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}
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value = value % 40000;
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return (uint16_t)value;
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}
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/*
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ignore rate assignment for now (needed for apm2
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emulation)
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*/
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RC_ICR4& operator=(uint16_t rate) {
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return *this;
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}
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/*
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interface to set a channel value from SITL
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*/
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void set(uint8_t i, uint16_t v) {
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channels[i] = v;
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}
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};
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#endif
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