AP_HAL_SITL: add support for RC input from SITL FDM data

ArduPilot · Mar 15, 2024 · 8cc8fe2 · 8cc8fe2
1 parent bf214e5
commit 8cc8fe2
Showing 1 changed file with 5 additions and 37 deletions.
diff --git a/libraries/AP_HAL_SITL/RCInput.cpp b/libraries/AP_HAL_SITL/RCInput.cpp
@@ -3,9 +3,7 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RCPROTOCOL_ENABLED
 
-
 #include "RCInput.h"
-#include <SITL/SITL.h>
 #include <AP_RCProtocol/AP_RCProtocol.h>
 
 using namespace HALSITL;
@@ -19,53 +17,23 @@ void RCInput::init()
 
 bool RCInput::new_input()
 {
-    if (!using_rc_protocol) {
-        if (AP::RC().new_input()) {
-            using_rc_protocol = true;
-        }
-    }
-    if (using_rc_protocol) {
-        return AP::RC().new_input();
-    }
-    if (_sitlState->new_rc_input) {
-        _sitlState->new_rc_input = false;
-        return true;
-    }
-    return false;
+    return AP::RC().new_input();
 }
 
 uint16_t RCInput::read(uint8_t ch)
 {
-    if (using_rc_protocol) {
-        return AP::RC().read(ch);
-    }
-    if (ch >= num_channels()) {
-        return 0;
-    }
-    return _sitlState->pwm_input[ch];
+    return AP::RC().read(ch);
 }
 
 uint8_t RCInput::read(uint16_t* periods, uint8_t len)
 {
-    if (len > num_channels()) {
-        len = num_channels();
-    }
-    for (uint8_t i=0; i < len; i++) {
-        periods[i] = read(i);
-    }
-    return len;
+    AP::RC().read(periods, len);
+    return MIN(len, num_channels());
 }
 
 uint8_t RCInput::num_channels()
 {
-    if (using_rc_protocol) {
-        return AP::RC().num_channels();
-    }
-    SITL::SIM *_sitl = AP::sitl();
-    if (_sitl) {
-        return MIN(_sitl->rc_chancount.get(), SITL_RC_INPUT_CHANNELS);
-    }
-    return SITL_RC_INPUT_CHANNELS;
+    return AP::RC().num_channels();
 }
 
 #endif