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AP_HAL_F4Light: Remove RC overrides

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Michael du Breuil 2018-04-26 16:16:13 -07:00 committed by Andrew Tridgell
parent 45a13c868b
commit dc4f1786f6
2 changed files with 0 additions and 41 deletions
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34
libraries/AP_HAL_F4Light/RCInput.cpp
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@ -58,9 +58,6 @@ uint8_t RCInput::_valid_channels IN_CCM; // = 0;
uint64_t RCInput::_last_read IN_CCM; // = 0;
uint16_t RCInput::_override[F4Light_RC_INPUT_NUM_CHANNELS] IN_CCM;
bool RCInput::_override_valid;
bool RCInput::is_PPM IN_CCM;
uint8_t RCInput::_last_read_from IN_CCM;
@ -88,8 +85,6 @@ RCInput::RCInput()
void RCInput::init() {
caddr_t ptr;
memset((void *)&_override[0], 0, sizeof(_override));
/* OPLINK AIR port pinout
1 2 3 4 5 6 7
PD2 PA15
@ -104,8 +99,6 @@ for RFM int cs
_last_read_from=0;
max_num_pulses=0;
clear_overrides();
pwmInit(is_PPM); // PPM sum mode
uint8_t pp=0;
@ -150,8 +143,6 @@ void RCInput::late_init(uint8_t b) {
// we can have 4 individual sources of data - internal DSM from UART5, SBUS from UART1 and 2 PPM parsers
bool RCInput::new_input()
{
if(_override_valid) return true;
uint8_t inp=hal_param_helper->_rc_input;
if(inp && inp < num_parsers+1){
inp-=1;
@ -258,10 +249,6 @@ uint16_t RCInput::read(uint8_t ch)
}
}
/* Check for override */
uint16_t over = _override[ch];
if(over) return over;
if( ch == 4) {
last_4 = data;
}
@ -314,27 +301,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
return _valid_channels;
}
bool RCInput::set_override(uint8_t channel, int16_t override)
{
if (override < 0) return false; /* -1: no change. */
if (channel < F4Light_RC_INPUT_NUM_CHANNELS) {
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
}
return false;
}
void RCInput::clear_overrides()
{
for (int i = 0; i < F4Light_RC_INPUT_NUM_CHANNELS; i++) {
set_override(i, 0);
}
}
bool RCInput::rc_bind(int dsmMode){
#ifdef BOARD_SPEKTRUM_RX_PIN
return parsers[2]->bind(dsmMode); // only DSM

7
libraries/AP_HAL_F4Light/RCInput.h
View File

@ -43,9 +43,6 @@ public:
bool new_input() override;
uint8_t num_channels() override;
bool set_override(uint8_t channel, int16_t override) override;
void clear_overrides() override;
bool rc_bind(int dsmMode) override;
static uint16_t max_num_pulses; // for statistics
@ -66,10 +63,6 @@ private:
static uint16_t last_4;
/* override state */
static uint16_t _override[F4Light_RC_INPUT_NUM_CHANNELS];
static bool _override_valid;
static bool rc_failsafe_enabled;
static bool fs_flag, aibao_fs_flag;