src/main/rx/msp_override.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include "platform.h"
  22
  23 #if defined(USE_RX_MSP_OVERRIDE)
  24
  25 #include "rx/msp_override.h"
  26 #include "rx/msp.h"
  27 #include "fc/rc_modes.h"
  28 #include "common/maths.h"
  29
  30
  31 uint16_t rxMspOverrideReadRawRc(const rxRuntimeState_t *rxRuntimeState, const rxConfig_t *rxConfig, uint8_t chan)
  32 {
  33     uint16_t rxSample = (rxRuntimeState->rcReadRawFn)(rxRuntimeState, chan);
  34
  35     uint16_t overrideSample = rxMspReadRawRC(rxRuntimeState, chan);
  36     bool override = (1 << chan) & rxConfig->msp_override_channels_mask;
  37
  38     if (IS_RC_MODE_ACTIVE(BOXMSPOVERRIDE) && override) {
  39         return overrideSample;
  40     } else {
  41         return rxSample;
  42     }
  43 }
  44 #endif