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33 lines
804 B
33 lines
804 B
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#define SITL_RC_INPUT_CHANNELS 16 |
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#include "AP_HAL_SITL.h" |
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class HALSITL::RCInput : public AP_HAL::RCInput { |
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public: |
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explicit RCInput(SITL_State *sitlState): _sitlState(sitlState) {} |
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void init() override; |
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bool new_input() override; |
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uint8_t num_channels() override { |
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return SITL_RC_INPUT_CHANNELS; |
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} |
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uint16_t read(uint8_t ch) override; |
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uint8_t read(uint16_t* periods, uint8_t len) override; |
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bool set_overrides(int16_t *overrides, uint8_t len) override; |
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bool set_override(uint8_t channel, int16_t override) override; |
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void clear_overrides() override; |
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private: |
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SITL_State *_sitlState; |
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/* override state */ |
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uint16_t _override[SITL_RC_INPUT_CHANNELS]; |
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}; |
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#endif |
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