ardupilot/libraries/AP_HAL_PX4/RCInput.h

54 lines
1.3 KiB
C++

#pragma once
#include "AP_HAL_PX4.h"
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <pthread.h>
#include <AP_Radio/AP_Radio.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;
int16_t get_rssi(void) override {
return _rssi;
}
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;
int16_t _rssi = -1;
uint8_t last_input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const char *input_source_name(uint8_t id) const;
#if HAL_RCINPUT_WITH_AP_RADIO
AP_Radio *radio;
uint32_t last_radio_us;
#endif
};