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RC_Channel: fixed example in SITL

This commit is contained in:
Andrew Tridgell 2016-03-25 21:35:33 +11:00
parent 5c92adddf9
commit 1ecfa6b487
2 changed files with 12 additions and 8 deletions
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4
libraries/RC_Channel/RC_Channel.h
View File

@ -140,6 +140,10 @@ public:
static RC_Channel *rc_channel(uint8_t i);
static RC_Channel **rc_channel_array(void) {
return rc_ch;
}
bool in_trim_dz();
private:

16
libraries/RC_Channel/examples/RC_Channel/RC_Channel.cpp
View File

@ -26,7 +26,7 @@ static RC_Channel rc_5(CH_5);
static RC_Channel rc_6(CH_6);
static RC_Channel rc_7(CH_7);
static RC_Channel rc_8(CH_8);
static RC_Channel *rc = &rc_1;
static RC_Channel **rc = RC_Channel::rc_channel_array();
static void print_pwm(void);
static void print_radio_values();
@ -62,7 +62,7 @@ void setup()
rc_8.set_range(0,1000);
for (int i=0; i<NUM_CHANNELS; i++) {
rc[i].enable_out();
rc[i]->enable_out();
}
}
@ -79,7 +79,7 @@ void loop()
static void print_pwm(void)
{
for (int i=0; i<NUM_CHANNELS; i++) {
hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].control_in);
hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i]->control_in);
}
hal.console->printf("\n");
}
@ -90,8 +90,8 @@ static void print_radio_values()
for (int i=0; i<NUM_CHANNELS; i++) {
hal.console->printf("CH%u: %u|%u\n",
(unsigned)i+1,
(unsigned)rc[i].radio_min,
(unsigned)rc[i].radio_max);
(unsigned)rc[i]->radio_min,
(unsigned)rc[i]->radio_max);
}
}
@ -102,9 +102,9 @@ static void print_radio_values()
static void copy_input_output(void)
{
for (int i=0; i<NUM_CHANNELS; i++) {
rc[i].servo_out = rc[i].control_in;
rc[i].calc_pwm();
rc[i].output();
rc[i]->servo_out = rc[i]->control_in;
rc[i]->calc_pwm();
rc[i]->output();
}
}