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43 lines
1.1 KiB
43 lines
1.1 KiB
#pragma once |
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#include "AP_HAL_PX4.h" |
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#include <systemlib/perf_counter.h> |
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#include <uORB/topics/actuator_armed.h> |
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#include <uORB/topics/actuator_outputs.h> |
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namespace PX4 { |
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class RCOutput_Tap : public AP_HAL::RCOutput { |
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public: |
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void init() override; |
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void set_freq(uint32_t chmask, uint16_t freq_hz) override; |
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uint16_t get_freq(uint8_t ch) override; |
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void enable_ch(uint8_t ch) override; |
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void disable_ch(uint8_t ch) override; |
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void write(uint8_t ch, uint16_t period_us) override; |
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uint16_t read(uint8_t ch) override; |
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void read(uint16_t *period_us, uint8_t len) override; |
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override { |
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_esc_pwm_min = min_pwm; |
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_esc_pwm_max = max_pwm; |
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} |
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void cork() override; |
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void push() override; |
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private: |
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static const uint8_t MAX_MOTORS = 4; |
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void _send_outputs(void); |
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uint8_t _enabled_channels = 0; |
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bool _corking = false; |
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uint16_t _period[MAX_MOTORS]; |
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uint16_t _esc_pwm_min = 0; |
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uint16_t _esc_pwm_max = 0; |
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perf_counter_t _perf_rcout; |
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}; |
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}
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