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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "RCChannelMonitorController.h"
RCChannelMonitorController::RCChannelMonitorController(void)
: _chanCount(0)
{
connect(_vehicle, &Vehicle::rcChannelsChanged, this, &RCChannelMonitorController::_rcChannelsChanged);
}
void RCChannelMonitorController::_rcChannelsChanged(int channelCount, int pwmValues[Vehicle::cMaxRcChannels])
{
int maxChannel = std::min(channelCount, _chanMax());
for (int channel=0; channel<maxChannel; channel++) {
int channelValue = pwmValues[channel];
if (_chanCount != channelCount) {
_chanCount = channelCount;
emit channelCountChanged(_chanCount);
}
if (channelValue != -1) {
emit channelRCValueChanged(channel, channelValue);
}
}
}
int RCChannelMonitorController::_chanMax(void) const
{
return _vehicle->firmwareType() == MAV_AUTOPILOT_PX4 ? _chanMaxPX4 : _chanMaxAPM;
}