ardupilot/ArduCopterMega/radio.pde

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void init_rc_in()
{
read_EEPROM_radio(); // read Radio limits
g.rc_1.set_angle(4500);
g.rc_2.set_angle(4500);
g.rc_3.set_range(0,1000);
g.rc_3.scale_output = .9;
g.rc_4.set_angle(6000);
g.rc_1.dead_zone = 60; // 60 = .6 degrees
g.rc_2.dead_zone = 60;
g.rc_3.dead_zone = 20;
g.rc_4.dead_zone = 500;
g.rc_5.set_range(0,1000);
g.rc_5.set_filter(false);
g.rc_6.set_range(0,1000);
g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000);
}
void init_rc_out()
{
#if ARM_AT_STARTUP == 1
motor_armed = 1;
#endif
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); // Initialization of servo outputs
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
APM_RC.Init(); // APM Radio initialization
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); // Initialization of servo outputs
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
}
void read_radio()
{
g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
g.rc_2.set_pwm(APM_RC.InputCh(CH_2));
g.rc_3.set_pwm(APM_RC.InputCh(CH_3));
g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
g.rc_5.set_pwm(APM_RC.InputCh(CH_5));
g.rc_6.set_pwm(APM_RC.InputCh(CH_6));
g.rc_7.set_pwm(APM_RC.InputCh(CH_7));
g.rc_8.set_pwm(APM_RC.InputCh(CH_8));
//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), g.rc_1.control_in, g.rc_2.control_in, g.rc_3.control_in, g.rc_4.control_in);
}
/*
void throttle_failsafe(uint16_t pwm)
{
if(g.throttle_fs_enabled == 0)
return;
//check for failsafe and debounce funky reads
// ------------------------------------------
if (pwm < g.throttle_fs_value){
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafeCounter++;
if (failsafeCounter == 9){
SendDebug("MSG FS ON ");
SendDebugln(pwm, DEC);
}else if(failsafeCounter == 10) {
ch3_failsafe = true;
//set_failsafe(true);
//failsafeCounter = 10;
}else if (failsafeCounter > 10){
failsafeCounter = 11;
}
}else if(failsafeCounter > 0){
// we are no longer in failsafe condition
// but we need to recover quickly
failsafeCounter--;
if (failsafeCounter > 3){
failsafeCounter = 3;
}
if (failsafeCounter == 1){
SendDebug("MSG FS OFF ");
SendDebugln(pwm, DEC);
}else if(failsafeCounter == 0) {
ch3_failsafe = false;
//set_failsafe(false);
//failsafeCounter = -1;
}else if (failsafeCounter <0){
failsafeCounter = -1;
}
}
}
*/
void trim_radio()
{
for (byte i = 0; i < 30; i++){
read_radio();
}
g.rc_1.trim(); // roll
g.rc_2.trim(); // pitch
g.rc_4.trim(); // yaw
g.rc_1.save_eeprom();
g.rc_2.save_eeprom();
g.rc_4.save_eeprom();
}
void trim_yaw()
{
for (byte i = 0; i < 30; i++){
read_radio();
}
g.rc_4.trim(); // yaw
}