mirror of https://github.com/ArduPilot/ardupilot
33 lines
738 B
C++
33 lines
738 B
C++
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define SITL_RC_INPUT_CHANNELS 16
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#include "AP_HAL_SITL.h"
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class HALSITL::RCInput : public AP_HAL::RCInput {
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public:
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explicit RCInput(SITL_State *sitlState): _sitlState(sitlState) {}
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void init() override;
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bool new_input() override;
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uint8_t num_channels() override {
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return SITL_RC_INPUT_CHANNELS;
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}
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uint16_t read(uint8_t ch) override;
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uint8_t read(uint16_t* periods, uint8_t len) override;
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bool set_override(uint8_t channel, int16_t override) override;
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void clear_overrides() override;
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private:
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SITL_State *_sitlState;
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/* override state */
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uint16_t _override[SITL_RC_INPUT_CHANNELS];
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};
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#endif
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