libraries/AP_RCProtocol/AP_RCProtocol_Radio.cpp

   1 #include "AP_RCProtocol_config.h"
   2
   3 #if AP_RCPROTOCOL_RADIO_ENABLED
   4
   5 #include "AP_RCProtocol_Radio.h"
   6 #include <AP_Radio/AP_Radio.h>
   7
   8 void AP_RCProtocol_Radio::update()
   9 {
  10     auto *radio = AP_Radio::get_singleton();
  11     if (radio == nullptr) {
  12         return;
  13     }
  14     if (!init_done) {
  15         radio->init();
  16         init_done = true;
  17     }
  18
  19     // allow the radio to handle mavlink on the main thread:
  20     radio->update();
  21
  22     const uint32_t last_recv_us = radio->last_recv_us();
  23     if (last_recv_us == last_input_us) {
  24         // no new data
  25         return;
  26     }
  27     last_input_us = last_recv_us;
  28
  29     const auto num_channels = radio->num_channels();
  30     uint16_t rcin_values[MAX_RCIN_CHANNELS];
  31     for (uint8_t i=0; i<num_channels; i++) {
  32         rcin_values[i] = radio->read(i);
  33     }
  34
  35     add_input(
  36         num_channels,
  37         rcin_values,
  38         false,  // failsafe
  39         0, // check me
  40         0  // link quality
  41         );
  42 }
  43
  44 void AP_RCProtocol_Radio::start_bind()
  45 {
  46     auto *radio = AP_Radio::get_singleton();
  47     if (radio == nullptr) {
  48         return;
  49     }
  50     radio->start_recv_bind();
  51 }
  52
  53 #endif // AP_RCPROTOCOL_RADIO_ENABLED