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Plane: make it possible to change control channel ordering without reboot

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this makes configuration a bit easier
This commit is contained in:
Andrew Tridgell 2013-06-03 16:42:38 +10:00
parent 27bc0cdc2c
commit 4c9bc30f58
3 changed files with 20 additions and 5 deletions
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3
ArduPlane/ArduPlane.pde
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@ -958,6 +958,9 @@ static void one_second_loop()
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// make it possible to change control channel ordering at runtime
set_control_channels();
}
static void update_GPS(void)

16
ArduPlane/radio.pde
View File

@ -4,7 +4,20 @@
// ----------------------------------------------------------------------------
static uint8_t failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
/*
allow for runtime change of control channel ordering
*/
static void set_control_channels(void)
{
channel_roll = RC_Channel::rc_channel(rcmap.roll()-1);
channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
channel_rudder = RC_Channel::rc_channel(rcmap.yaw()-1);
}
/*
initialise RC input channels
*/
static void init_rc_in()
{
// set rc channel ranges
@ -34,6 +47,9 @@ static void init_rc_in()
#endif
}
/*
initialise RC output channels
*/
static void init_rc_out()
{
channel_roll->enable_out();

6
ArduPlane/system.pde
View File

@ -110,11 +110,7 @@ static void init_ardupilot()
//
load_parameters();
// setup channel mappings. Changing these requires a reboot
channel_roll = RC_Channel::rc_channel(rcmap.roll()-1);
channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
channel_rudder = RC_Channel::rc_channel(rcmap.yaw()-1);
set_control_channels();
// reset the uartA baud rate after parameter load
hal.uartA->begin(map_baudrate(g.serial0_baud, SERIAL0_BAUD));