mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.1 KiB
C++
54 lines
1.1 KiB
C++
#include "AP_RCProtocol_config.h"
|
|
|
|
#if AP_RCPROTOCOL_RADIO_ENABLED
|
|
|
|
#include "AP_RCProtocol_Radio.h"
|
|
#include <AP_Radio/AP_Radio.h>
|
|
|
|
void AP_RCProtocol_Radio::update()
|
|
{
|
|
auto *radio = AP_Radio::get_singleton();
|
|
if (radio == nullptr) {
|
|
return;
|
|
}
|
|
if (!init_done) {
|
|
radio->init();
|
|
init_done = true;
|
|
}
|
|
|
|
// allow the radio to handle mavlink on the main thread:
|
|
radio->update();
|
|
|
|
const uint32_t last_recv_us = radio->last_recv_us();
|
|
if (last_recv_us == last_input_us) {
|
|
// no new data
|
|
return;
|
|
}
|
|
last_input_us = last_recv_us;
|
|
|
|
const auto num_channels = radio->num_channels();
|
|
uint16_t rcin_values[MAX_RCIN_CHANNELS];
|
|
for (uint8_t i=0; i<num_channels; i++) {
|
|
rcin_values[i] = radio->read(i);
|
|
}
|
|
|
|
add_input(
|
|
num_channels,
|
|
rcin_values,
|
|
false, // failsafe
|
|
0, // check me
|
|
0 // link quality
|
|
);
|
|
}
|
|
|
|
void AP_RCProtocol_Radio::start_bind()
|
|
{
|
|
auto *radio = AP_Radio::get_singleton();
|
|
if (radio == nullptr) {
|
|
return;
|
|
}
|
|
radio->start_recv_bind();
|
|
}
|
|
|
|
#endif // AP_RCPROTOCOL_RADIO_ENABLED
|