AP_HAL: add and use AP_RCProtocol_UDP_Packed16BitValues

ArduPilot · Mar 14, 2024 · 7796bc5 · 7796bc5
1 parent 14b1237
commit 7796bc5
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diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp
@@ -125,12 +125,6 @@ void SIMState::fdm_input_local(void)
     }
     if (_sitl) {
         sitl_model->fill_fdm(_sitl->state);
-
-        if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_None) {
-            for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
-                pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
-            }
-        }
     }
 
     // output JSON state to ride along flight controllers

diff --git a/libraries/AP_HAL/SIMState.h b/libraries/AP_HAL/SIMState.h
@@ -93,9 +93,6 @@ class AP_HAL::SIMState {
     pid_t _parent_pid;
     uint32_t _update_count;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    SocketAPM_native _sitl_rc_in{true};
-#endif
     SITL::SIM *_sitl;
     uint16_t _rcin_port;
     uint16_t _fg_view_port;