mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.3 KiB
C++
64 lines
1.3 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "RCInput.h"
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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void SITLRCInput::init()
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{
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clear_overrides();
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}
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bool SITLRCInput::new_input()
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{
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if (_sitlState->new_rc_input) {
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_sitlState->new_rc_input = false;
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return true;
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}
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return false;
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}
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uint16_t SITLRCInput::read(uint8_t ch) {
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if (ch >= 8) {
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return 0;
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}
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return _override[ch]? _override[ch] : _sitlState->pwm_input[ch];
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}
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uint8_t SITLRCInput::read(uint16_t* periods, uint8_t len) {
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for (uint8_t i=0; i<len; i++) {
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periods[i] = _override[i]? _override[i] : _sitlState->pwm_input[i];
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}
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return 8;
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}
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bool SITLRCInput::set_overrides(int16_t *overrides, uint8_t len) {
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bool res = false;
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for (uint8_t i = 0; i < len; i++) {
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res |= set_override(i, overrides[i]);
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}
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return res;
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}
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bool SITLRCInput::set_override(uint8_t channel, int16_t override) {
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if (override < 0) return false; /* -1: no change. */
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if (channel < 8) {
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_override[channel] = override;
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if (override != 0) {
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return true;
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}
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}
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return false;
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}
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void SITLRCInput::clear_overrides()
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{
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for (uint8_t i = 0; i < 8; i++) {
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_override[i] = 0;
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}
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}
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#endif
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