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https://github.com/ArduPilot/ardupilot
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6eee2421cc
the valid_channels() method was inconsistently implemented between boards, and served two quite different purposes. It is clearer as two functions
35 lines
793 B
C++
35 lines
793 B
C++
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#ifndef __AP_HAL_AVR_SITL_RCINPUT_H__
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#define __AP_HAL_AVR_SITL_RCINPUT_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#include <AP_HAL_AVR_SITL.h>
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class AVR_SITL::SITLRCInput : public AP_HAL::RCInput {
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public:
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SITLRCInput(SITL_State *sitlState) {
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_sitlState = sitlState;
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}
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void init(void* machtnichts);
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bool new_input();
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uint8_t num_channels() { return 8; }
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uint16_t read(uint8_t ch);
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uint8_t read(uint16_t* periods, uint8_t len);
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bool set_overrides(int16_t *overrides, uint8_t len);
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bool set_override(uint8_t channel, int16_t override);
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void clear_overrides();
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private:
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SITL_State *_sitlState;
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bool _valid;
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/* override state */
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uint16_t _override[8];
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};
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#endif
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#endif // __AP_HAL_AVR_SITL_RCINPUT_H__
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