ardupilot/ArduSub/radio.cpp

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#include "Sub.h"
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void Sub::init_rc_in()
{
channel_pitch = RC_Channels::rc_channel(0);
channel_roll = RC_Channels::rc_channel(1);
channel_throttle = RC_Channels::rc_channel(2);
channel_yaw = RC_Channels::rc_channel(3);
channel_forward = RC_Channels::rc_channel(4);
channel_lateral = RC_Channels::rc_channel(5);
// set rc channel ranges
channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
channel_yaw->set_angle(ROLL_PITCH_INPUT_MAX);
channel_throttle->set_range(1000);
channel_forward->set_angle(ROLL_PITCH_INPUT_MAX);
channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX);
// set default dead zones
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channel_roll->set_default_dead_zone(30);
channel_pitch->set_default_dead_zone(30);
channel_throttle->set_default_dead_zone(30);
channel_yaw->set_default_dead_zone(40);
channel_forward->set_default_dead_zone(30);
channel_lateral->set_default_dead_zone(30);
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
// initialize rc input to 1500 on control channels (rather than 0)
for (int i = 0; i < 6; i++) {
hal.rcin->set_override(i, 1500);
}
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hal.rcin->set_override(6, 1500); // camera pan channel
hal.rcin->set_override(7, 1500); // camera tilt channel
RC_Channel* chan = RC_Channels::rc_channel(8);
uint16_t min = chan->get_radio_min();
hal.rcin->set_override(8, min); // lights 1 channel
chan = RC_Channels::rc_channel(9);
min = chan->get_radio_min();
hal.rcin->set_override(9, min); // lights 2 channel
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hal.rcin->set_override(10, 1100); // video switch
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#endif
}
// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
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void Sub::init_rc_out()
{
motors.set_update_rate(g.rc_speed);
motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), AP_Motors::motor_frame_type::MOTOR_FRAME_TYPE_PLUS);
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
// enable output to motors
if (arming.rc_calibration_checks(true)) {
enable_motor_output();
}
// refresh auxiliary channel to function map
SRV_Channels::update_aux_servo_function();
}