aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_HAL_ChibiOS: HAL_RCINPUT_WITH_AP_RADIO definition

Browse Source
This commit is contained in:
Eugene Shamaev 2018-03-11 16:47:54 +02:00 committed by Randy Mackay
parent 7a67c82026
commit 4ab2ff8c81
2 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -62,7 +62,7 @@ bool RCInput::new_input()
_override_valid = false;
rcin_mutex.give();
#ifdef HAL_RCINPUT_WITH_AP_RADIO
#if HAL_RCINPUT_WITH_AP_RADIO
if (!_radio_init) {
_radio_init = true;
radio = AP_Radio::instance();
@ -102,7 +102,7 @@ uint16_t RCInput::read(uint8_t channel)
}
uint16_t v = _rc_values[channel];
rcin_mutex.give();
#ifdef HAL_RCINPUT_WITH_AP_RADIO
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio && channel == 0) {
// hook to allow for update of radio on main thread, for mavlink sends
radio->update();
@ -177,7 +177,7 @@ void RCInput::_timer_tick(void)
}
#endif
#ifdef HAL_RCINPUT_WITH_AP_RADIO
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) {
last_radio_us = radio->last_recv_us();
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
@ -214,7 +214,7 @@ bool RCInput::rc_bind(int dsmMode)
rcin_prot.start_bind();
#endif
#ifdef HAL_RCINPUT_WITH_AP_RADIO
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio) {
radio->start_recv_bind();
}

4
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -19,7 +19,7 @@
#include "AP_HAL_ChibiOS.h"
#include "Semaphores.h"
#ifdef HAL_RCINPUT_WITH_AP_RADIO
#if HAL_RCINPUT_WITH_AP_RADIO
#include <AP_Radio/AP_Radio.h>
#endif
@ -69,7 +69,7 @@ private:
int16_t _rssi = -1;
uint32_t _rcin_timestamp_last_signal;
bool _init;
#ifdef HAL_RCINPUT_WITH_AP_RADIO
#if HAL_RCINPUT_WITH_AP_RADIO
bool _radio_init;
AP_Radio *radio;
uint32_t last_radio_us;