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Rover: fixed RC input

This commit is contained in:
Andrew Tridgell 2012-12-19 08:00:32 +11:00
parent 7fbbc388a7
commit 509e801e21
2 changed files with 8 additions and 8 deletions
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12
APMrover2/radio.pde
View File

@ -68,12 +68,12 @@ static void read_radio()
g.channel_roll.set_pwm(hal.rcin->read(CH_ROLL));
g.channel_pitch.set_pwm(hal.rcin->read(CH_PITCH));
g.channel_throttle.set_pwm(hal.rcout->read(CH_3));
g.channel_rudder.set_pwm(hal.rcout->read(CH_4));
g.rc_5.set_pwm(hal.rcout->read(CH_5));
g.rc_6.set_pwm(hal.rcout->read(CH_6));
g.rc_7.set_pwm(hal.rcout->read(CH_7));
g.rc_8.set_pwm(hal.rcout->read(CH_8));
g.channel_throttle.set_pwm(hal.rcin->read(CH_3));
g.channel_rudder.set_pwm(hal.rcin->read(CH_4));
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(g.channel_throttle.radio_in);

4
APMrover2/test.pde
View File

@ -119,9 +119,9 @@ test_passthru(uint8_t argc, const Menu::arg *argv)
if (hal.rcin->valid() > 0) {
cliSerial->print("CH:");
for(int i = 0; i < 8; i++){
cliSerial->print(hal.rcout->read(i)); // Print channel values
cliSerial->print(hal.rcin->read(i)); // Print channel values
cliSerial->print(",");
hal.rcout->write(i, hal.rcout->read(i)); // Copy input to Servos
hal.rcout->write(i, hal.rcin->read(i)); // Copy input to Servos
}
cliSerial->println();
}