Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: use default motor mapping for channel setup

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduPlane/quadplane.cpp
View File

@ -330,6 +330,12 @@ void QuadPlane::setup(void)
}
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
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);
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_hover_throttle(500);
motors->set_update_rate(rc_speed);