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44 lines
809 B
44 lines
809 B
#ifndef APM_RC_h |
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#define APM_RC_h |
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#define NUM_CHANNELS 8 |
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#define MIN_PULSEWIDTH 900 |
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#define MAX_PULSEWIDTH 2100 |
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// Radio channels |
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// Note channels are from 0! |
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#define CH_1 0 |
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#define CH_2 1 |
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#define CH_3 2 |
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#define CH_4 3 |
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#define CH_5 4 |
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#define CH_6 5 |
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#define CH_7 6 |
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#define CH_8 7 |
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#define CH_10 9 //PB5 |
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#define CH_11 10 //PE3 |
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#include <inttypes.h> |
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class APM_RC_Class |
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{ |
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private: |
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public: |
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APM_RC_Class(); |
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void Init(); |
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void OutputCh(uint8_t ch, uint16_t pwm); |
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uint16_t InputCh(uint8_t ch); |
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uint8_t GetState(); |
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void Force_Out0_Out1(void); |
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void Force_Out2_Out3(void); |
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void Force_Out6_Out7(void); |
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bool setHIL(int16_t v[NUM_CHANNELS]); |
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void clearOverride(void); |
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private: |
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int16_t _HIL_override[NUM_CHANNELS]; |
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}; |
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extern APM_RC_Class APM_RC; |
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#endif
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