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Plane: use new channel output API

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This commit is contained in:
Andrew Tridgell 2014-04-03 12:19:11 +11:00
parent 11f196318e
commit 3c33eb3f09
2 changed files with 4 additions and 40 deletions
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18
ArduPlane/Attitude.pde
View File

@ -959,23 +959,7 @@ static void set_servos(void)
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();
// Route configurable aux. functions to their respective servos
g.rc_5.output_ch(CH_5);
g.rc_6.output_ch(CH_6);
g.rc_7.output_ch(CH_7);
g.rc_8.output_ch(CH_8);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
g.rc_9.output_ch(CH_9);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
g.rc_10.output_ch(CH_10);
g.rc_11.output_ch(CH_11);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
g.rc_12.output_ch(CH_12);
g.rc_13.output_ch(CH_13);
g.rc_14.output_ch(CH_14);
#endif
RC_Channel_aux::output_ch_all();
}
static bool demoing_servos;

26
ArduPlane/radio.pde
View File

@ -52,22 +52,7 @@ static void init_rc_out()
RC_Channel_aux::enable_aux_servos();
// Initialization of servo outputs
for (uint8_t i=0; i<8; i++) {
RC_Channel::rc_channel(i)->output_trim();
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
servo_write(CH_9, g.rc_9.radio_trim);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
servo_write(CH_10, g.rc_10.radio_trim);
servo_write(CH_11, g.rc_11.radio_trim);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
servo_write(CH_12, g.rc_12.radio_trim);
servo_write(CH_13, g.rc_13.radio_trim);
servo_write(CH_14, g.rc_14.radio_trim);
#endif
RC_Channel::output_trim_all();
// setup PX4 to output the min throttle when safety off if arming
// is setup for min on disarm
@ -150,6 +135,8 @@ static void read_radio()
pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
}
RC_Channel::set_pwm_all();
if (control_mode == TRAINING) {
// in training mode we don't want to use a deadzone, as we
@ -161,15 +148,8 @@ static void read_radio()
} else {
channel_roll->set_pwm(pwm_roll);
channel_pitch->set_pwm(pwm_pitch);
channel_throttle->set_pwm(channel_throttle->read());
channel_rudder->set_pwm(channel_rudder->read());
}
g.rc_5.set_pwm(hal.rcin->read(CH_5));
g.rc_6.set_pwm(hal.rcin->read(CH_6));
g.rc_7.set_pwm(hal.rcin->read(CH_7));
g.rc_8.set_pwm(hal.rcin->read(CH_8));
control_failsafe(channel_throttle->radio_in);
channel_throttle->servo_out = channel_throttle->control_in;