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Plane: use default motor mapping for channel setup

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This commit is contained in:
Andrew Tridgell 2016-01-04 22:37:51 +11:00
parent 626b468930
commit 13a71c5cde
1 changed files with 10 additions and 1 deletions
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11
ArduPlane/quadplane.cpp
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@ -330,6 +330,12 @@ void QuadPlane::setup(void)
} }
initialised = true; initialised = true;
// setup default motors for X frame
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor1, CH_5);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor2, CH_6);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor3, CH_7);
RC_Channel_aux::set_aux_channel_default(RC_Channel_aux::k_motor4, CH_8);
/* /*
dynamically allocate the key objects for quadplane. This ensures dynamically allocate the key objects for quadplane. This ensures
that the objects don't affect the vehicle unless enabled and that the objects don't affect the vehicle unless enabled and
@ -360,7 +366,10 @@ void QuadPlane::setup(void)
} }
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info); AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
motors->set_frame_orientation(AP_MOTORS_QUADPLANE); // for some strange reason we need to call wrong frame first, or
// setup_motors() doesn't run
motors->set_frame_orientation(AP_MOTORS_PLUS_FRAME);
motors->set_frame_orientation(AP_MOTORS_X_FRAME);
motors->set_throttle_range(0, thr_min_pwm, thr_max_pwm); motors->set_throttle_range(0, thr_min_pwm, thr_max_pwm);
motors->set_hover_throttle(500); motors->set_hover_throttle(500);
motors->set_update_rate(rc_speed); motors->set_update_rate(rc_speed);