mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.2 KiB
C++
52 lines
1.2 KiB
C++
#pragma once
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#include <RC_Channel/RC_Channel.h>
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#include <AP_Motors/AP_Motors.h>
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#include "mode.h"
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class RC_Channel_Copter : public RC_Channel
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{
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public:
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protected:
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void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
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bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
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private:
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void do_aux_function_change_mode(const Mode::Number mode,
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const AuxSwitchPos ch_flag);
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void do_aux_function_change_air_mode(const AuxSwitchPos ch_flag);
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// called when the mode switch changes position:
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void mode_switch_changed(modeswitch_pos_t new_pos) override;
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};
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class RC_Channels_Copter : public RC_Channels
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{
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public:
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bool has_valid_input() const override;
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RC_Channel *get_arming_channel(void) const override;
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RC_Channel_Copter obj_channels[NUM_RC_CHANNELS];
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RC_Channel_Copter *channel(const uint8_t chan) override {
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if (chan >= NUM_RC_CHANNELS) {
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return nullptr;
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}
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return &obj_channels[chan];
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}
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// returns true if throttle arming checks should be run
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bool arming_check_throttle() const override;
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protected:
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int8_t flight_mode_channel_number() const override;
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};
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