mirror of https://github.com/ArduPilot/ardupilot
AP_RC_Channel: deleted this library as nobody seems to be using it.
Everyone is using RC_Channel instead which includes parameters.
This commit is contained in:
rmackay9
parent
c22f3ae563
commit
4e7e78d091
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@ -1,332 +0,0 @@
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/*
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AP_RC_Channel.cpp - Radio library for Arduino Legacy Hardware
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Code by Jason Short. DIYDrones.com
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Improvements to implement channel curves by Ron Curry, 2012
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This library is free software; you can redistribute it and / or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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#include <math.h>
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#include <avr/eeprom.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include "AP_RC_Channel.h"
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#define ANGLE 0
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#define RANGE 1
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// setup the control preferences
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void
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AP_RC_Channel::set_range(int low, int high)
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{
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_type = RANGE;
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_high = high;
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_low = low;
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}
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void
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AP_RC_Channel::set_angle(int angle)
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{
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_type = ANGLE;
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_high = angle;
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}
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void
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AP_RC_Channel::set_reverse(bool reverse)
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{
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if (reverse) _reverse = -1;
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else _reverse = 1;
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}
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bool
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AP_RC_Channel::get_reverse(void)
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{
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if (_reverse==-1) return 1;
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else return 0;
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}
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void
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AP_RC_Channel::set_filter(bool filter)
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{
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_filter = filter;
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}
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// call after first read
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void
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AP_RC_Channel::trim()
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{
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radio_trim = radio_in;
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}
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//-------------------------------------------------------------------------------
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// Support for PWM translation (i.e. curves or "expo")
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//
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// Translation of the input PWM is done via a pointer "channel_curve" to an array that defines the PWM output value
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// for any given input value. The array is structured with element 0 equal to the number of elements
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// in the curve. If the length is zero then the array defines no curve. If the "channel_curve" pointer
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// is NULL that is interpretted as no curve defined and is the default state.
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//
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// Elements 1 to n of the array contain the values for the curve. These are defined in terms of the actual
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// PWM output pulsewidth desired for a given point on the curve with curve element 1 containing the value
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// for the lowest input value from the RC RX and element "n" containing the value for the highest input value
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// from the RX.
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//
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// Input PWM values are expected to be in the range of the radio calibration values "radio_min" to "radio_max". The
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// user must have already completed the radio calibration otherwise output will be inaccurage. Input PWM values
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// generate an index that falls between curve elements will cause the output to be interpolated in a linear fashion
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// between the curve elements. For example: A curve defined as element 0 = 2 (length), element 1 = 900, and
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// element 2 = 2100 would define a linear straight line output between 900 and 2100 for valid input values.
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// Additional elements could be inserted between element 1 and element 2 to define more complex
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// curves. - R. Curry 06-14-12
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// Sets curve for channel output to user defined curve
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// Input: curve - A pointer to a user defined output curve for this channel
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void
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AP_RC_Channel::set_channel_curve(int *curve)
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{
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_channel_curve = curve; // Channel_curve points to array containing curve info
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}
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// Unsets the curve for this channel - i.e. no curve translation
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void
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AP_RC_Channel::unset_channel_curve()
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{
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_channel_curve = NULL;
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}
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// Apply the current curve to a PWM value
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// Input: PWM value in range of radio_min to radio_max
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// Output: Translated PWM value
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int
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AP_RC_Channel::apply_curve(int pwm)
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{
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float scale;
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int index1, index2;
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if (_channel_curve != NULL)
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{
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if (_channel_curve[0] > 0) // If the length of the curve isn't zero then use it
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{
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// Calculate the index into the channel curve table
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scale = ((float)(pwm - radio_min) /
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(float)(radio_max - radio_min)) *
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((float)_channel_curve[0]-1);
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index1 = (int)scale; // get the index
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scale -= (float)index1; // scale now has the remainder for later
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if (index1 < 0) { // If the PWM value below our range then clamp to lowest table entry
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index1 = 0;
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scale = 0.0;
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}
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index2 = index1 + 1; // Point to the next entry beyond our current for interpolation
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if (index2 >= _channel_curve[0]) { // If we are beyond the end then clamp to highest entry
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index2 = _channel_curve[0] - 1;
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if (index1 >= _channel_curve[0]) { // Also check index 1 and clamp if necessary
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index1 = _channel_curve[0] -1;
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}
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}
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// Do the lookup and interpolation
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index1++; // curve values start at entry 1
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index2++;
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pwm = ((_channel_curve[index1] *
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(1 - scale)) + (_channel_curve[index2] *
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scale)); // Get the pwm value from the curve and interpolate - done
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}
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}
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return pwm; //
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}
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//-------------------------------------------------------------------------------
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// read input from APM_RC - create a control_in value
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void
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AP_RC_Channel::set_pwm(int pwm)
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{
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// Serial.print(pwm,DEC);
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// Apply the curve - if any
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pwm = apply_curve(pwm);
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if(_filter){
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if(radio_in == 0)
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radio_in = pwm;
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else
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radio_in = ((pwm + radio_in) >> 1); // Small filtering
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}else{
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radio_in = pwm;
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}
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if(_type == RANGE){
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//Serial.print("range ");
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control_in = pwm_to_range();
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control_in = (control_in < dead_zone) ? 0 : control_in;
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}else{
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control_in = pwm_to_angle();
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control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
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}
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}
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int
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AP_RC_Channel::control_mix(float value)
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{
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return (1 - abs(control_in / _high)) * value + control_in;
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}
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// are we below a threshold?
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bool
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AP_RC_Channel::get_failsafe(void)
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{
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return (radio_in < (radio_min - 50));
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}
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// returns just the PWM without the offset from radio_min
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void
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AP_RC_Channel::calc_pwm(void)
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{
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if(_type == RANGE){
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pwm_out = range_to_pwm();
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radio_out = pwm_out + radio_min;
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}else{
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pwm_out = angle_to_pwm();
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radio_out = pwm_out + radio_trim;
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}
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// radio_out = constrain(radio_out, radio_min, radio_max);
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}
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// ------------------------------------------
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void
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AP_RC_Channel::load_eeprom(void)
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{
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radio_min = eeprom_read_word((uint16_t *) _address);
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radio_max = eeprom_read_word((uint16_t *) (_address + 2));
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load_trim();
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}
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void
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AP_RC_Channel::save_eeprom(void)
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{
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eeprom_write_word((uint16_t *) _address, radio_min);
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eeprom_write_word((uint16_t *) (_address + 2), radio_max);
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save_trim();
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}
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// ------------------------------------------
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void
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AP_RC_Channel::save_trim(void)
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{
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eeprom_write_word((uint16_t *) (_address + 4), radio_trim);
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//_ee.write_int((_address + 4), radio_trim);
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}
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void
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AP_RC_Channel::load_trim(void)
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{
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radio_trim = eeprom_read_word((uint16_t *) (_address + 4));
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//_ee.write_int((_address + 4), radio_trim);
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}
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// ------------------------------------------
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void
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AP_RC_Channel::zero_min_max()
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{
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radio_min = radio_max = radio_in;
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}
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void
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AP_RC_Channel::update_min_max()
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{
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radio_min = min(radio_min, radio_in);
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radio_max = max(radio_max, radio_in);
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}
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// ------------------------------------------
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int16_t
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AP_RC_Channel::pwm_to_angle()
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{
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if(radio_in < radio_trim)
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return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_trim - radio_min);
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else
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return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_max - radio_trim);
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//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim));
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//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
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}
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int16_t
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AP_RC_Channel::angle_to_pwm()
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{
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if(_reverse == -1)
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{
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if(servo_out < 0)
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return ( -1 * ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high);
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else
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return ( -1 * ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high);
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} else {
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if(servo_out > 0)
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return ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high;
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else
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return ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high;
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}
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//return (((float)servo_out / (float)_high) * (float)(radio_max - radio_trim));
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//return (((float)servo_out / (float)_high) * (float)(radio_trim - radio_min));
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}
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// ------------------------------------------
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int16_t
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AP_RC_Channel::pwm_to_range()
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{
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//return (_low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min))));
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return (_low + ((long)(_high - _low) * (long)(radio_in - radio_min)) / (long)(radio_max - radio_min));
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}
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int16_t
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AP_RC_Channel::range_to_pwm()
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{
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//return (((float)(servo_out - _low) / (float)(_high - _low)) * (float)(radio_max - radio_min));
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return ((long)(servo_out - _low) * (long)(radio_max - radio_min)) / (long)(_high - _low);
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}
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// ------------------------------------------
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float
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AP_RC_Channel::norm_input()
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{
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if(radio_in < radio_trim)
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return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
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else
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return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
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}
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float
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AP_RC_Channel::norm_output()
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{
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if(radio_out < radio_trim)
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return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
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else
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return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
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}
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@ -1,106 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_RC_Channel.h
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/// @brief AP_RC_Channel manager, with EEPROM-backed storage of constants.
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#ifndef AP_RC_Channel_h
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#define AP_RC_Channel_h
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//#include <AP_Common.h>
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#include <stdint.h>
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/// @class AP_RC_Channel
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/// @brief Object managing one RC channel
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class AP_RC_Channel{
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public:
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/// Constructor
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///
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/// @param key EEPROM storage key for the channel trim parameters.
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/// @param name Optional name for the group.
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///
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AP_RC_Channel(uint16_t address) :
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_address(address),
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_high(1),
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_filter(true),
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_reverse(1),
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dead_zone(0){}
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AP_RC_Channel() :
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_high(1),
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_filter(true),
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_reverse(1),
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dead_zone(0){}
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// setup min and max radio values in CLI
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void update_min_max();
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void zero_min_max();
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// startup
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void load_eeprom(void);
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void save_eeprom(void);
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void save_trim(void);
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void load_trim(void);
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void set_filter(bool filter);
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// setup the control preferences
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void set_range(int low, int high);
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void set_angle(int angle);
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void set_reverse(bool reverse);
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bool get_reverse(void);
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// read input from APM_RC - create a control_in value
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void set_pwm(int pwm);
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// pwm is stored here
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int16_t radio_in;
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// call after first set_pwm
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void trim();
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// did our read come in 50µs below the min?
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bool get_failsafe(void);
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// value generated from PWM
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int16_t control_in;
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int16_t dead_zone; // used to keep noise down and create a dead zone.
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int control_mix(float value);
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// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
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int16_t servo_out;
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// generate PWM from servo_out value
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void calc_pwm(void);
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// PWM is without the offset from radio_min
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int16_t pwm_out;
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int16_t radio_out;
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int16_t radio_min;
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int16_t radio_trim;
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int16_t radio_max;
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// includes offset from PWM
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//int16_t get_radio_out(void);
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int16_t pwm_to_angle();
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float norm_input();
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float norm_output();
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int16_t angle_to_pwm();
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int16_t pwm_to_range();
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int16_t range_to_pwm();
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private:
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bool _filter;
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int8_t _reverse;
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int16_t _address;
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bool _type;
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int16_t _high;
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int16_t _low;
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};
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#endif
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@ -1,353 +0,0 @@
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/*
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Example of AP_RC_Channel library.
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Original Code by Jason Short. 2010
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Updates to support 2.6+ and channel curves by Ron Curry, 2012
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DIYDrones.com
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*/
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#include <AP_RC_Channel.h> // ArduPilot RC Library
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#include <Arduino_Mega_ISR_Registry.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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Arduino_Mega_ISR_Registry isr_registry;
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APM_RC_APM2 APM_RC;
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/*
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#define EE_RADIO_1 0x00 // all gains stored from here
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#define EE_RADIO_2 0x06 // all gains stored from here
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#define EE_RADIO_3 0x0C // all gains stored from here
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#define EE_RADIO_4 0x12 // all gains stored from here
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AP_RC_Channel rc_1(EE_RADIO_1);
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AP_RC_Channel rc_2(EE_RADIO_2);
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AP_RC_Channel rc_3(EE_RADIO_3);
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AP_RC_Channel rc_4(EE_RADIO_4);
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*/
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AP_RC_Channel rc_1;
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AP_RC_Channel rc_2;
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AP_RC_Channel rc_3;
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AP_RC_Channel rc_4;
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AP_RC_Channel rc_5;
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AP_RC_Channel rc_6;
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AP_RC_Channel rc_7;
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AP_RC_Channel rc_8;
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// curve1 demonstrates how the full range of the RC input is scaled to span only a range of 200 with increased resolution
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// Output is not clipped but rather scaled
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static int curve1[] = { 3, 1400, 1500, 1600};
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// curve2 demonstrates quick ramp with short throw from 1100 to 1400, then flat, high-res section from 1400 - 1600, then quick
|
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// ramp short throw from 1600 to 1950 - classic expo function as seen in most TX's
|
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static int curve2[] = {5, 1100, 1400, 1500, 1600, 1950};
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|
||||
// curve 3 demonstrats quick ramp/short thrown to 1300 then relative flat, high-rese section from 1300 to 1950 with a more
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// detailed definition
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static int curve3[] = {10, 1100, 1300, 1400, 1450, 1500, 1550, 1600, 1700, 1825, 1950};
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// curve 4 demonstrates scaling to a larger PWM range in this case 900-2100 (from approx 1100-1900)
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// with other modifications this could be used to support output devices that require a different range of PWM values than normal
|
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static int curve4[] = {3, 100, 500, 900};
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void setup()
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{
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isr_registry.init();
|
||||
APM_RC.Init(&isr_registry); // APM Radio initialization
|
||||
|
||||
APM_RC.enable_out(CH_1);
|
||||
APM_RC.enable_out(CH_2);
|
||||
APM_RC.enable_out(CH_3);
|
||||
APM_RC.enable_out(CH_4);
|
||||
APM_RC.enable_out(CH_5);
|
||||
APM_RC.enable_out(CH_6);
|
||||
APM_RC.enable_out(CH_7);
|
||||
APM_RC.enable_out(CH_8);
|
||||
|
||||
|
||||
Serial.begin(115200);
|
||||
Serial.println("ArduPilot RC Channel test");
|
||||
delay(500);
|
||||
|
||||
// setup radio
|
||||
|
||||
// read eepom or set manually
|
||||
/*
|
||||
rc_1.radio_min = 1100;
|
||||
rc_1.radio_max = 1900;
|
||||
|
||||
rc_2.radio_min = 1100;
|
||||
rc_2.radio_max = 1900;
|
||||
|
||||
rc_3.radio_min = 1100;
|
||||
rc_3.radio_max = 1900;
|
||||
|
||||
rc_4.radio_min = 1100;
|
||||
rc_4.radio_max = 1900;
|
||||
|
||||
// or
|
||||
|
||||
rc_1.load_eeprom();
|
||||
rc_2.load_eeprom();
|
||||
rc_3.load_eeprom();
|
||||
rc_4.load_eeprom();
|
||||
|
||||
*/
|
||||
|
||||
// interactive setup
|
||||
setup_radio();
|
||||
|
||||
print_radio_values();
|
||||
|
||||
// set type of output, symmetrical angles or a number range;
|
||||
rc_1.set_range(0,1000);
|
||||
rc_2.set_range(0,1000);
|
||||
rc_3.set_range(0,1000);
|
||||
rc_4.set_range(0,1000);
|
||||
rc_5.set_range(0,1000);
|
||||
rc_6.set_angle(4500);
|
||||
rc_7.set_angle(4500);
|
||||
rc_8.set_angle(4500);
|
||||
/*
|
||||
rc_1.dead_zone = 85;
|
||||
rc_2.dead_zone = 85;
|
||||
rc_3.dead_zone = 85;
|
||||
rc_4.dead_zone = 85;
|
||||
rc_5.dead_zone = 85;
|
||||
rc_6.dead_zone = 85;
|
||||
rc_7.dead_zone = 85;
|
||||
rc_8.dead_zone = 85;
|
||||
*/
|
||||
for (byte i = 0; i < 30; i++){
|
||||
read_radio();
|
||||
}
|
||||
rc_1.trim();
|
||||
rc_2.trim();
|
||||
rc_4.trim();
|
||||
rc_5.trim();
|
||||
rc_6.trim();
|
||||
rc_7.trim();
|
||||
rc_8.trim();
|
||||
|
||||
// Setup test curves
|
||||
rc_1.set_channel_curve(curve1);
|
||||
rc_2.set_channel_curve(curve2);
|
||||
rc_3.set_channel_curve(curve3);
|
||||
rc_4.set_channel_curve(curve4);
|
||||
rc_5.unset_channel_curve();
|
||||
rc_6.unset_channel_curve();
|
||||
rc_7.unset_channel_curve();
|
||||
rc_8.unset_channel_curve();
|
||||
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
|
||||
if (APM_RC.GetState() == 1)
|
||||
{
|
||||
read_radio();
|
||||
rc_1.servo_out = rc_1.control_in;
|
||||
rc_2.servo_out = rc_2.control_in;
|
||||
rc_3.servo_out = rc_3.control_in;
|
||||
rc_4.servo_out = rc_4.control_in;
|
||||
rc_5.servo_out = rc_5.control_in;
|
||||
rc_6.servo_out = rc_6.control_in;
|
||||
rc_7.servo_out = rc_7.control_in;
|
||||
rc_8.servo_out = rc_8.control_in;
|
||||
|
||||
|
||||
rc_1.calc_pwm();
|
||||
rc_2.calc_pwm();
|
||||
rc_3.calc_pwm();
|
||||
rc_4.calc_pwm();
|
||||
rc_5.calc_pwm();
|
||||
rc_6.calc_pwm();
|
||||
rc_7.calc_pwm();
|
||||
rc_8.calc_pwm();
|
||||
|
||||
print_pwm();
|
||||
print_control_in();
|
||||
|
||||
// send values to the PWM timers for output
|
||||
// ----------------------------------------
|
||||
APM_RC.OutputCh(CH_1, rc_1.radio_out); // send to Servos
|
||||
APM_RC.OutputCh(CH_2, rc_2.radio_out); // send to Servos
|
||||
APM_RC.OutputCh(CH_3, rc_3.radio_out); // send to Servos
|
||||
APM_RC.OutputCh(CH_4, rc_4.radio_out); // send to Servos
|
||||
APM_RC.OutputCh(CH_5, rc_5.radio_out); // send to Servos
|
||||
APM_RC.OutputCh(CH_6, rc_6.radio_out); // send to Servos
|
||||
APM_RC.OutputCh(CH_7, rc_7.radio_out); // send to Servos
|
||||
APM_RC.OutputCh(CH_8, rc_8.radio_out); // send to Servos
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void read_radio()
|
||||
{
|
||||
rc_1.set_pwm(APM_RC.InputCh(CH_1));
|
||||
rc_2.set_pwm(APM_RC.InputCh(CH_2));
|
||||
rc_3.set_pwm(APM_RC.InputCh(CH_3));
|
||||
rc_4.set_pwm(APM_RC.InputCh(CH_4));
|
||||
rc_5.set_pwm(APM_RC.InputCh(CH_5));
|
||||
rc_6.set_pwm(APM_RC.InputCh(CH_6));
|
||||
rc_7.set_pwm(APM_RC.InputCh(CH_7));
|
||||
rc_8.set_pwm(APM_RC.InputCh(CH_8));
|
||||
//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in,
|
||||
// rc_5.control_in, rc_6.control_in, rc_7.control_in, rc_8.control_in);
|
||||
}
|
||||
|
||||
void print_pwm()
|
||||
{
|
||||
Serial.print("\t1: ");
|
||||
Serial.print(rc_1.radio_out, DEC);
|
||||
Serial.print("\t2: ");
|
||||
Serial.print(rc_2.radio_out, DEC);
|
||||
Serial.print("\t3:");
|
||||
Serial.print(rc_3.radio_out, DEC);
|
||||
Serial.print("\t4:");
|
||||
Serial.print(rc_4.radio_in , DEC);
|
||||
/* Serial.print("\t5");
|
||||
Serial.print(rc_5.radio_out, DEC);
|
||||
Serial.print("\t6: ");
|
||||
Serial.print(rc_6.radio_out, DEC);
|
||||
Serial.print("\t7:");
|
||||
Serial.print(rc_7.radio_out, DEC);
|
||||
Serial.print("\t8:");
|
||||
Serial.print(rc_8.radio_out , DEC);
|
||||
*/
|
||||
}
|
||||
|
||||
// 1280
|
||||
// 1536
|
||||
// 1795
|
||||
void print_control_in()
|
||||
{
|
||||
Serial.print("\t1: ");
|
||||
Serial.print(rc_1.control_in, DEC);
|
||||
Serial.print("\t2: ");
|
||||
Serial.print(rc_2.control_in, DEC);
|
||||
Serial.print("\t3:");
|
||||
Serial.print(rc_3.control_in, DEC);
|
||||
Serial.print("\t4:");
|
||||
Serial.println(rc_4.control_in, DEC);
|
||||
/* Serial.print("\t5: ");
|
||||
Serial.print(rc_5.control_in, DEC);
|
||||
Serial.print("\t6: ");
|
||||
Serial.print(rc_6.control_in, DEC);
|
||||
Serial.print("\t7:");
|
||||
Serial.print(rc_7.control_in, DEC);
|
||||
Serial.print("\t8:");
|
||||
Serial.println(rc_8.control_in, DEC);
|
||||
*/
|
||||
}
|
||||
|
||||
void
|
||||
print_radio_values()
|
||||
{
|
||||
Serial.print("CH1: ");
|
||||
Serial.print(rc_1.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_1.radio_max, DEC);
|
||||
|
||||
Serial.print("CH2: ");
|
||||
Serial.print(rc_2.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_2.radio_max, DEC);
|
||||
|
||||
Serial.print("CH3: ");
|
||||
Serial.print(rc_3.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_3.radio_max, DEC);
|
||||
|
||||
Serial.print("CH4: ");
|
||||
Serial.print(rc_4.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_4.radio_max, DEC);
|
||||
/*
|
||||
Serial.print("CH5: ");
|
||||
Serial.print(rc_5.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_5.radio_max, DEC);
|
||||
|
||||
Serial.print("CH6: ");
|
||||
Serial.print(rc_6.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_6.radio_max, DEC);
|
||||
|
||||
Serial.print("CH7: ");
|
||||
Serial.print(rc_7.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_7.radio_max, DEC);
|
||||
|
||||
Serial.print("CH8: ");
|
||||
Serial.print(rc_8.radio_min, DEC);
|
||||
Serial.print(" | ");
|
||||
Serial.println(rc_8.radio_max, DEC);
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
setup_radio()
|
||||
{
|
||||
Serial.println("\n\nRadio Setup:");
|
||||
uint8_t i;
|
||||
|
||||
for(i = 0; i < 100;i++){
|
||||
delay(20);
|
||||
read_radio();
|
||||
}
|
||||
|
||||
rc_1.radio_min = rc_1.radio_in;
|
||||
rc_2.radio_min = rc_2.radio_in;
|
||||
rc_3.radio_min = rc_3.radio_in;
|
||||
rc_4.radio_min = rc_4.radio_in;
|
||||
rc_5.radio_min = rc_5.radio_in;
|
||||
rc_6.radio_min = rc_6.radio_in;
|
||||
rc_7.radio_min = rc_7.radio_in;
|
||||
rc_8.radio_min = rc_8.radio_in;
|
||||
|
||||
rc_1.radio_max = rc_1.radio_in;
|
||||
rc_2.radio_max = rc_2.radio_in;
|
||||
rc_3.radio_max = rc_3.radio_in;
|
||||
rc_4.radio_max = rc_4.radio_in;
|
||||
rc_5.radio_max = rc_5.radio_in;
|
||||
rc_6.radio_max = rc_6.radio_in;
|
||||
rc_7.radio_max = rc_7.radio_in;
|
||||
rc_8.radio_max = rc_8.radio_in;
|
||||
|
||||
rc_1.radio_trim = rc_1.radio_in;
|
||||
rc_2.radio_trim = rc_2.radio_in;
|
||||
rc_4.radio_trim = rc_4.radio_in;
|
||||
rc_5.radio_trim = rc_5.radio_in;
|
||||
rc_6.radio_trim = rc_6.radio_in;
|
||||
rc_7.radio_trim = rc_7.radio_in;
|
||||
rc_8.radio_trim = rc_8.radio_in;
|
||||
|
||||
Serial.println("\nMove all controls to each extreme. Hit Enter to save:");
|
||||
while(1){
|
||||
|
||||
delay(20);
|
||||
// Filters radio input - adjust filters in the radio.pde file
|
||||
// ----------------------------------------------------------
|
||||
read_radio();
|
||||
|
||||
rc_1.update_min_max();
|
||||
rc_2.update_min_max();
|
||||
rc_3.update_min_max();
|
||||
rc_4.update_min_max();
|
||||
rc_5.update_min_max();
|
||||
rc_6.update_min_max();
|
||||
rc_7.update_min_max();
|
||||
rc_8.update_min_max();
|
||||
|
||||
if(Serial.available() > 0){
|
||||
//rc_3.radio_max += 250;
|
||||
Serial.flush();
|
||||
|
||||
Serial.println("Radio calibrated, Showing control values:");
|
||||
break;
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
BOARD = mega
|
||||
include ../../../AP_Common/Arduino.mk
|
||||
Loading…
Reference in New Issue