mirror of https://github.com/ArduPilot/ardupilot
45 lines
809 B
C++
45 lines
809 B
C++
#ifndef APM_RC_h
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#define APM_RC_h
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#define NUM_CHANNELS 8
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#define MIN_PULSEWIDTH 900
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#define MAX_PULSEWIDTH 2100
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// Radio channels
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// Note channels are from 0!
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#define CH_10 9 //PB5
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#define CH_11 10 //PE3
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#include <inttypes.h>
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class APM_RC_Class
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{
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private:
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public:
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APM_RC_Class();
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void Init();
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void OutputCh(uint8_t ch, uint16_t pwm);
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uint16_t InputCh(uint8_t ch);
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uint8_t GetState();
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void Force_Out0_Out1(void);
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void Force_Out2_Out3(void);
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void Force_Out6_Out7(void);
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bool setHIL(int16_t v[NUM_CHANNELS]);
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void clearOverride(void);
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private:
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int16_t _HIL_override[NUM_CHANNELS];
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};
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extern APM_RC_Class APM_RC;
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#endif
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