mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.3 KiB
C++
88 lines
2.3 KiB
C++
/*
|
|
RC input pass trough to RC output
|
|
Max RC channels 14
|
|
Max update rate 10 Hz
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_HAL_AVR/AP_HAL_AVR.h>
|
|
#include <AP_HAL_SITL/AP_HAL_SITL.h>
|
|
#include <AP_HAL_PX4/AP_HAL_PX4.h>
|
|
#include <AP_HAL_Linux/AP_HAL_Linux.h>
|
|
#include <AP_HAL_Empty/AP_HAL_Empty.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Baro/AP_Baro.h>
|
|
#include <AP_ADC/AP_ADC.h>
|
|
#include <AP_GPS/AP_GPS.h>
|
|
#include <AP_InertialSensor/AP_InertialSensor.h>
|
|
#include <AP_Notify/AP_Notify.h>
|
|
#include <DataFlash/DataFlash.h>
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
#include <AP_Mission/AP_Mission.h>
|
|
#include <StorageManager/StorageManager.h>
|
|
#include <AP_Terrain/AP_Terrain.h>
|
|
#include <AP_Compass/AP_Compass.h>
|
|
#include <AP_Declination/AP_Declination.h>
|
|
#include <SITL/SITL.h>
|
|
#include <Filter/Filter.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <AP_Progmem/AP_Progmem.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_Airspeed/AP_Airspeed.h>
|
|
#include <AP_Vehicle/AP_Vehicle.h>
|
|
#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
|
|
#include <AP_NavEKF/AP_NavEKF.h>
|
|
#include <AP_Rally/AP_Rally.h>
|
|
#include <AP_Scheduler/AP_Scheduler.h>
|
|
#include <AP_HAL/UARTDriver.h>
|
|
#include <AP_BattMonitor/AP_BattMonitor.h>
|
|
#include <AP_RangeFinder/AP_RangeFinder.h>
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
|
|
|
#define MAX_CHANNELS 14
|
|
|
|
static uint8_t max_channels = 0;
|
|
static uint16_t last_value[MAX_CHANNELS];
|
|
|
|
void setup(void)
|
|
{
|
|
hal.console->printf("Starting RCInputToRCOutput test\n");
|
|
|
|
for(uint8_t i = 0; i < MAX_CHANNELS; i++) {
|
|
hal.rcout->enable_ch(i);
|
|
}
|
|
}
|
|
|
|
void loop(void)
|
|
{
|
|
bool changed = false;
|
|
uint8_t nchannels = hal.rcin->num_channels();
|
|
|
|
if(nchannels > MAX_CHANNELS) {
|
|
nchannels = MAX_CHANNELS;
|
|
}
|
|
|
|
for(uint8_t i = 0; i < nchannels; i++) {
|
|
uint16_t v = hal.rcin->read(i);
|
|
if(last_value[i] != v) {
|
|
hal.rcout->write(i, v);
|
|
changed = true;
|
|
last_value[i] = v;
|
|
}
|
|
if(i > max_channels) {
|
|
max_channels = i;
|
|
}
|
|
}
|
|
if(changed) {
|
|
for(uint8_t i = 0; i < max_channels; i++) {
|
|
hal.console->printf("%2u:%04u ", (unsigned)i + 1, (unsigned)last_value[i]);
|
|
}
|
|
hal.console->println();
|
|
}
|
|
hal.scheduler->delay(100);
|
|
}
|
|
|
|
AP_HAL_MAIN();
|