AP_HAL: added set_safety_pwm() API

11 years ago · 5e39b6fb11
1 changed files with 6 additions and 0 deletions
--- a/libraries/AP_HAL/RCOutput.h
+++ b/libraries/AP_HAL/RCOutput.h
@ -45,6 +45,12 @@ public:
				@@ -45,6 +45,12 @@ public:
     * array of channels. */
    virtual uint16_t read(uint8_t ch) = 0;
    virtual void     read(uint16_t* period_us, uint8_t len) = 0;
+
+    /*
+      set PWM to send to a set of channels when the safety switch is
+      in the safe state
+     */
+    virtual void     set_safety_pwm(uint32_t chmask, uint16_t period_us) {}
 };

 #endif // __AP_HAL_RC_OUTPUT_H__