mirror of https://github.com/ArduPilot/ardupilot
40 lines
652 B
C++
40 lines
652 B
C++
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_RCProtocol/AP_RCProtocol_config.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RCPROTOCOL_ENABLED
|
|
|
|
#include "RCInput.h"
|
|
#include <AP_RCProtocol/AP_RCProtocol.h>
|
|
|
|
using namespace HALSITL;
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
void RCInput::init()
|
|
{
|
|
AP::RC().init();
|
|
}
|
|
|
|
bool RCInput::new_input()
|
|
{
|
|
return AP::RC().new_input();
|
|
}
|
|
|
|
uint16_t RCInput::read(uint8_t ch)
|
|
{
|
|
return AP::RC().read(ch);
|
|
}
|
|
|
|
uint8_t RCInput::read(uint16_t* periods, uint8_t len)
|
|
{
|
|
AP::RC().read(periods, len);
|
|
return MIN(len, num_channels());
|
|
}
|
|
|
|
uint8_t RCInput::num_channels()
|
|
{
|
|
return AP::RC().num_channels();
|
|
}
|
|
|
|
#endif
|