ardupilot/ArduCopter/RC_Channel.h

50 lines
1.1 KiB
C++

#pragma once
#include <RC_Channel/RC_Channel.h>
#include "Copter.h"
class RC_Channel_Copter : public RC_Channel
{
public:
protected:
void init_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
void do_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
private:
void do_aux_function_change_mode(const control_mode_t mode,
const aux_switch_pos_t ch_flag);
// called when the mode switch changes position:
void mode_switch_changed(modeswitch_pos_t new_pos) override;
};
class RC_Channels_Copter : public RC_Channels
{
public:
// this must be implemented for the AP_Scheduler functor to work:
void read_aux_all() override {
RC_Channels::read_aux_all();
}
bool has_valid_input() const override;
RC_Channel_Copter obj_channels[NUM_RC_CHANNELS];
RC_Channel_Copter *channel(const uint8_t chan) override {
if (chan > NUM_RC_CHANNELS) {
return nullptr;
}
return &obj_channels[chan];
}
protected:
int8_t flight_mode_channel_number() const override;
};