zr-v4/libraries/AP_HAL_Linux/RCInput.cpp

#include <AP_HAL.h>

#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX

#include "RCInput.h"

using namespace Linux;
LinuxRCInput::LinuxRCInput() :
new_rc_input(false)
{}

void LinuxRCInput::init(void* machtnichts)
{}

bool LinuxRCInput::new_input() 
{
    return new_rc_input;
}

uint8_t LinuxRCInput::num_channels() 
{
    return 8;
}

uint16_t LinuxRCInput::read(uint8_t ch) 
{
    new_rc_input = false;
    if (_override[ch]) {
        return _override[ch];
    }
    if (ch == 2) {
        // force low throttle for now
        return 900;
    }
    return 1500;
}

uint8_t LinuxRCInput::read(uint16_t* periods, uint8_t len) 
{
    for (uint8_t i=0; i<len; i++) {
	periods[i] = read(i);
    }
    return 8;
}

bool LinuxRCInput::set_overrides(int16_t *overrides, uint8_t len) 
{
    bool res = false;
    for (uint8_t i = 0; i < len; i++) {
        res |= set_override(i, overrides[i]);
    }
    return res;
}

bool LinuxRCInput::set_override(uint8_t channel, int16_t override) 
{
    if (override < 0) return false; /* -1: no change. */
    if (channel < 8) {
        _override[channel] = override;
        if (override != 0) {
            new_rc_input = true;
            return true;
        }
    }
    return false;
}

void LinuxRCInput::clear_overrides()
{
    for (uint8_t i = 0; i < 8; i++) {
	_override[i] = 0;
    }
}

#endif // CONFIG_HAL_BOARD