ardupilot/libraries/AP_HAL_PX4/RCInput.h

39 lines
943 B
C++

#pragma once
#include "AP_HAL_PX4.h"
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <pthread.h>
#ifndef RC_INPUT_MAX_CHANNELS
#define RC_INPUT_MAX_CHANNELS 18
#endif
class PX4::PX4RCInput : public AP_HAL::RCInput {
public:
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;
bool set_overrides(int16_t *overrides, uint8_t len) override;
bool set_override(uint8_t channel, int16_t override) override;
void clear_overrides() override;
void _timer_tick(void);
bool rc_bind(int dsmMode) override;
private:
/* override state */
uint16_t _override[RC_INPUT_MAX_CHANNELS];
struct rc_input_values _rcin;
int _rc_sub;
uint64_t _last_read;
bool _override_valid;
perf_counter_t _perf_rcin;
pthread_mutex_t rcin_mutex;
};