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HAL_SITL: implement updated new_input() semantics

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This commit is contained in:
Andrew Tridgell 2015-02-09 09:56:47 +11:00
parent 5d6f883887
commit 7275d2b804
1 changed files with 7 additions and 4 deletions
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11
libraries/AP_HAL_AVR_SITL/RCInput.cpp
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@ -12,12 +12,16 @@ void SITLRCInput::init(void* machtnichts)
clear_overrides(); clear_overrides();
} }
bool SITLRCInput::new_input() { bool SITLRCInput::new_input()
return _sitlState->new_rc_input; {
if (_sitlState->new_rc_input) {
_sitlState->new_rc_input = false;
return true;
}
return false;
} }
uint16_t SITLRCInput::read(uint8_t ch) { uint16_t SITLRCInput::read(uint8_t ch) {
_sitlState->new_rc_input = false;
if (ch >= 8) { if (ch >= 8) {
return 0; return 0;
} }
@ -28,7 +32,6 @@ uint8_t SITLRCInput::read(uint16_t* periods, uint8_t len) {
for (uint8_t i=0; i<len; i++) { for (uint8_t i=0; i<len; i++) {
periods[i] = _override[i]? _override[i] : _sitlState->pwm_input[i]; periods[i] = _override[i]? _override[i] : _sitlState->pwm_input[i];
} }
_sitlState->new_rc_input = false;
return 8; return 8;
} }