mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.4 KiB
C++
61 lines
1.4 KiB
C++
#pragma once
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#include "AP_RCMapper_config.h"
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#if AP_RCMAPPER_ENABLED
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#include <inttypes.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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class RCMapper {
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public:
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RCMapper();
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/* Do not allow copies */
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CLASS_NO_COPY(RCMapper);
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// get singleton instance
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static RCMapper *get_singleton()
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{
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return _singleton;
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}
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/// roll - return input channel number for roll / aileron input
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uint8_t roll() const { return _ch_roll; }
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/// pitch - return input channel number for pitch / elevator input
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uint8_t pitch() const { return _ch_pitch; }
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/// throttle - return input channel number for throttle input
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uint8_t throttle() const { return _ch_throttle; }
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/// yaw - return input channel number for yaw / rudder input
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uint8_t yaw() const { return _ch_yaw; }
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/// forward - return input channel number for forward input
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uint8_t forward() const { return _ch_forward; }
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/// lateral - return input channel number for lateral input
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uint8_t lateral() const { return _ch_lateral; }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// channel mappings
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AP_Int8 _ch_roll;
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AP_Int8 _ch_pitch;
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AP_Int8 _ch_yaw;
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AP_Int8 _ch_throttle;
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AP_Int8 _ch_forward;
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AP_Int8 _ch_lateral;
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static RCMapper *_singleton;
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};
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namespace AP
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{
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RCMapper *rcmap();
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};
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#endif // AP_RCMAPPER_ENABLED
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