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36 lines
787 B
36 lines
787 B
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#ifndef __AP_HAL_SITL_RCINPUT_H__ |
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#define __AP_HAL_SITL_RCINPUT_H__ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <AP_HAL_SITL.h> |
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class HALSITL::SITLRCInput : public AP_HAL::RCInput { |
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public: |
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SITLRCInput(SITL_State *sitlState) { |
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_sitlState = sitlState; |
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} |
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void init(void* machtnichts); |
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bool new_input(); |
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uint8_t num_channels() { |
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return 8; |
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} |
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uint16_t read(uint8_t ch); |
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uint8_t read(uint16_t* periods, uint8_t len); |
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bool set_overrides(int16_t *overrides, uint8_t len); |
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bool set_override(uint8_t channel, int16_t override); |
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void clear_overrides(); |
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private: |
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SITL_State *_sitlState; |
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bool _valid; |
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/* override state */ |
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uint16_t _override[8]; |
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}; |
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#endif |
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#endif // __AP_HAL_SITL_RCINPUT_H__ |
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