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AP_HAL_ChibiOS: Remove RC overrides

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This commit is contained in:
Michael du Breuil
2018-06-05 09:51:09 +10:00
committed by Andrew Tridgell
parent 4d83644bd6
commit 593da25a7a
2 changed files with 3 additions and 53 deletions
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libraries/AP_HAL_ChibiOS/RCInput.cpp
+3 -46
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@@ -25,6 +25,8 @@
extern AP_IOMCU iomcu;
#endif
#include <AP_Math/AP_Math.h>
#define SIG_DETECT_TIMEOUT_US 500000
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
@@ -54,12 +56,7 @@ bool RCInput::new_input()
}
bool valid = _rcin_timestamp_last_signal != _last_read;
if (_override_valid) {
// if we have RC overrides active, then always consider it valid
valid = true;
}
_last_read = _rcin_timestamp_last_signal;
_override_valid = false;
rcin_mutex.give();
#if HAL_RCINPUT_WITH_AP_RADIO
@@ -84,22 +81,10 @@ uint8_t RCInput::num_channels()
uint16_t RCInput::read(uint8_t channel)
{
if (!_init) {
return 0;
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
if (!_init || (channel >= MIN(RC_INPUT_MAX_CHANNELS, _num_channels))) {
return 0;
}
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
if (_override[channel]) {
uint16_t v = _override[channel];
rcin_mutex.give();
return v;
}
if (channel >= _num_channels) {
rcin_mutex.give();
return 0;
}
uint16_t v = _rc_values[channel];
rcin_mutex.give();
#if HAL_RCINPUT_WITH_AP_RADIO
@@ -126,34 +111,6 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
return len;
}
bool RCInput::set_override(uint8_t channel, int16_t override)
{
if (!_init) {
return false;
}
if (override < 0) {
return false; /* -1: no change. */
}
if (channel >= RC_INPUT_MAX_CHANNELS) {
return false;
}
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
return false;
}
void RCInput::clear_overrides()
{
for (uint8_t i = 0; i < RC_INPUT_MAX_CHANNELS; i++) {
set_override(i, 0);
}
}
void RCInput::_timer_tick(void)
{
if (!_init) {