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Arducopter - Tri - move yaw servo (channel7/motor7/CH_TRI_YAW) to mid point on startup

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This commit is contained in:
Randy Mackay 2012-01-28 10:13:58 +09:00
parent 2db4d2bfe6
commit 000acac9f8
1 changed files with 8 additions and 4 deletions
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12
ArduCopter/radio.pde
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@ -100,8 +100,8 @@ static void init_rc_out()
void output_min() void output_min()
{ {
motors_output_enable(); motors_output_enable();
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
heli_move_servos_to_mid(); heli_move_servos_to_mid();
#else #else
APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); // Initialization of servo outputs APM_RC.OutputCh(MOT_1, g.rc_3.radio_min); // Initialization of servo outputs
@ -111,11 +111,15 @@ void output_min()
#endif #endif
APM_RC.OutputCh(MOT_5, g.rc_3.radio_min); APM_RC.OutputCh(MOT_5, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_6, g.rc_3.radio_min); APM_RC.OutputCh(MOT_6, g.rc_3.radio_min);
#if FRAME_CONFIG == TRI_FRAME
APM_RC.OutputCh(CH_TRI_YAW, g.rc_4.radio_trim); // Yaw servo middle position
#endif
#if FRAME_CONFIG == OCTA_FRAME #if FRAME_CONFIG == OCTA_FRAME
APM_RC.OutputCh(MOT_7, g.rc_3.radio_min); APM_RC.OutputCh(MOT_7, g.rc_3.radio_min);
APM_RC.OutputCh(MOT_8, g.rc_3.radio_min); APM_RC.OutputCh(MOT_8, g.rc_3.radio_min);
#endif #endif
} }