AP_HAL_Linux: aero uses RCProtocol backend

ArduPilot · Mar 8, 2025 · c91b08b · c91b08b
1 parent f8a71ca
commit c91b08b
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Showing 4 changed files with 8 additions and 6 deletions.
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -24,7 +24,6 @@
 #include "RCInput_AioPRU.h"
 #include "RCInput_PRU.h"
 #include "RCInput_RPI.h"
-#include "RCInput_SoloLink.h"
 #include "RCInput_UART.h"
 #include "RCInput_UDP.h"
 #include "RCInput_Multi.h"
@@ -162,14 +161,13 @@ static RCInput_ZYNQ rcinDriver;
 static RCInput_UDP  rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
 static RCInput_Multi rcinDriver{2, NEW_NOTHROW RCInput_RCProtocol("/dev/uart-sbus", "/dev/uart-sumd"), NEW_NOTHROW RCInput_UDP()};
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
-static RCInput_SoloLink rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
 static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 // this is needed to allow for RC input using SERIALn_PROTOCOL=23. No fd is opened
 // in the linux driver and instead user needs to provide a uart via SERIALn_PROTOCOL
 static RCInput_RCProtocol rcinDriver{nullptr, nullptr};

diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
@@ -36,7 +36,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 
 extern const AP_HAL::HAL& hal;
 

diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h
@@ -25,7 +25,8 @@
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 
 namespace Linux {
 

diff --git a/libraries/AP_HAL_Linux/hwdef/aero/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/aero/hwdef.dat
@@ -33,3 +33,5 @@ define BMI270_DEFAULT_ROTATION ROTATION_ROLL_180
 
 // FIXME: use of this define should go away:
 define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_LINUX_AERO
+
+define AP_RCPROTOCOL_SOLOLINK_ENABLED 1
Original file line number	Diff line number	Diff line change
Expand Up		@@ -33,3 +33,5 @@ define BMI270_DEFAULT_ROTATION ROTATION_ROLL_180

		// FIXME: use of this define should go away:
		define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_LINUX_AERO

		define AP_RCPROTOCOL_SOLOLINK_ENABLED 1