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48 lines
1.1 KiB
48 lines
1.1 KiB
#pragma once |
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#include <RC_Channel/RC_Channel.h> |
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#include <AP_Motors/AP_Motors.h> |
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#include "mode.h" |
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class RC_Channel_Copter : public RC_Channel |
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{ |
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public: |
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protected: |
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void init_aux_function(aux_func_t ch_option, aux_switch_pos_t) override; |
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void do_aux_function(aux_func_t ch_option, aux_switch_pos_t) override; |
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private: |
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void do_aux_function_armdisarm(const aux_switch_pos_t ch_flag) override; |
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void do_aux_function_change_mode(const Mode::Number mode, |
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const aux_switch_pos_t ch_flag); |
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// called when the mode switch changes position: |
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void mode_switch_changed(modeswitch_pos_t new_pos) override; |
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}; |
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class RC_Channels_Copter : public RC_Channels |
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{ |
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public: |
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bool has_valid_input() const override; |
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RC_Channel *get_arming_channel(void) const override; |
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RC_Channel_Copter obj_channels[NUM_RC_CHANNELS]; |
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RC_Channel_Copter *channel(const uint8_t chan) override { |
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if (chan >= NUM_RC_CHANNELS) { |
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return nullptr; |
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} |
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return &obj_channels[chan]; |
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} |
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protected: |
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int8_t flight_mode_channel_number() const override; |
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};
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