mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.7 KiB
Plaintext
82 lines
2.7 KiB
Plaintext
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Arducoder is the new 8 channels ppm encoder code for ArduPilot Mega / Arducopter boards.
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It is compatible with APM v1.x board (ATMEGA 328p), Phonedrone and futur boards using ATmega32u2
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Emphasis has been put on code simplicity and reliability.
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--------------------------------------------------------------------------------------------------
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Manual
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--------------------------------------------------------------------------------------------------
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--------------------------------------------------
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Warning - Warning - Warning - Warning
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--------------------------------------------------
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Code has not yet been extensively tested in the field.
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Nevertheless extensive tests have been done in the lab with a limited set of different receivers.
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Carefully check that your radio is working perfectly before you fly.
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If you see the blue status LED blinking blinking very fast, this is an indication that something is wrong in the decoding.
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If you have problems, please report the problem and what brand/modell receiver you are using.
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------------------------------------------
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Normal mode
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------------------------------------------
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Normal mode :
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Blue status LED is used for status reports :
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- slow to fast blinking according to throttle channel position
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- very fast blinking if missing receiver servo signals, or if the servo signals are wrong (invalid pulse widths)
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------------------------------------------
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Passthrough mode (mux)
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------------------------------------------
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Passthrough mode is trigged by channel 8 > 1800 us.
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Blue status LED has different behavior in passthrough mode :
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- If throttle position < 1200 us, status LED is off
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- If throttle position > 1200 us, status LED is on
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------------------------------------------
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Failsafe mode
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------------------------------------------
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If a receiver servo channel is lost, the last know channel position is used.
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If all contact with the receiver is lost, an internal failsafe is trigged after 250ms.
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Default failsafe values are :
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Throttle channel low (channel 3 = 1000 us)
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All other channels set to midstick (1500 us)
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------------------------------------------
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PPM passtrough mode
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If your receiver has a PPM sum signal output, it is now possible to pass on the PPM signal from servo channel 1 to the PPM pin (APM atmega1280/2560 PPM decoder).
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To enable PPM passtrough, short the servo input channel 2 & 3 signal pins together using a jumper strap and use the channel 1 signal pin as PPM input.
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Please note that the PPM sum signal must be standard 8 channel PPM to work with the APM PPM decoder.
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In this mode, the blue LED will blink like this : Long - Short - short
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--------------------------------------------------------------------------------------------------
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