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Plane: setup PWM to be used on throttle when safety is safe on PX4

This commit is contained in:
Andrew Tridgell 2014-01-15 22:28:00 +11:00
parent db1d438e97
commit 30a210cfa6
1 changed files with 10 additions and 0 deletions
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10
ArduPlane/radio.pde
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@ -18,6 +18,10 @@ static void set_control_channels(void)
channel_pitch->set_angle(SERVO_MAX);
channel_rudder->set_angle(SERVO_MAX);
channel_throttle->set_range(0, 100);
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->radio_min);
}
}
/*
@ -62,6 +66,12 @@ static void init_rc_out()
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
servo_write(CH_12, g.rc_12.radio_trim);
#endif
// setup PX4 to output the min throttle when safety off if arming
// is setup for min on disarm
if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->radio_min);
}
}
// check for pilot input on rudder stick for arming