From 2a9c2fdf149ce2575ae056c57e79fb22493e776f Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Fri, 6 Oct 2023 20:36:09 +0100 Subject: [PATCH] AP_HAL: add methods to directly access erpm array from rcout --- libraries/AP_HAL/RCOutput.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/libraries/AP_HAL/RCOutput.h b/libraries/AP_HAL/RCOutput.h index bc36093226..c4de0473a9 100644 --- a/libraries/AP_HAL/RCOutput.h +++ b/libraries/AP_HAL/RCOutput.h @@ -154,6 +154,11 @@ public: */ virtual uint16_t get_erpm(uint8_t chan) const { return 0; } virtual float get_erpm_error_rate(uint8_t chan) const { return 100.0f; } + /* + allow all erpm values to be read and for new updates to be detected - primarily for IOMCU + */ + virtual bool new_erpm() { return false; } + virtual uint32_t read_erpm(uint16_t* erpm, uint8_t len) { return 0; } /* enable PX4IO SBUS out at the given rate