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SRV_Channel: added RobotisServo protocol support

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This commit is contained in:
Andrew Tridgell
2018-12-22 08:13:14 +11:00
parent 28970ed176
commit d72f6598e0
2 changed files with 14 additions and 0 deletions
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libraries/SRV_Channel/SRV_Channels.cpp
+9
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@@ -33,6 +33,7 @@ SRV_Channel *SRV_Channels::channels;
SRV_Channels *SRV_Channels::instance;
AP_Volz_Protocol *SRV_Channels::volz_ptr;
AP_SBusOut *SRV_Channels::sbus_ptr;
AP_RobotisServo *SRV_Channels::robotis_ptr;
#if HAL_SUPPORT_RCOUT_SERIAL
AP_BLHeli *SRV_Channels::blheli_ptr;
@@ -141,6 +142,10 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
AP_SUBGROUPINFO(blheli, "_BLH_", 21, SRV_Channels, AP_BLHeli),
#endif
// @Group: _ROB_
// @Path: ../AP_RobotisServo/AP_RobotisServo.cpp
AP_SUBGROUPINFO(robotis, "_ROB_", 22, SRV_Channels, AP_RobotisServo),
AP_GROUPEND
};
@@ -162,6 +167,7 @@ SRV_Channels::SRV_Channels(void)
volz_ptr = &volz;
sbus_ptr = &sbus;
robotis_ptr = &robotis;
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr = &blheli;
#endif
@@ -228,6 +234,9 @@ void SRV_Channels::push()
// give sbus library a chance to update
sbus_ptr->update();
// give robotis library a chance to update
robotis_ptr->update();
#if HAL_SUPPORT_RCOUT_SERIAL
// give blheli telemetry a chance to update
blheli_ptr->update_telemetry();