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made trims part of init.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@285 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-08-24 04:13:00 +00:00
parent 267ac3cc6a
commit 55621d583d
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_RC/AP_RC.cpp
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@ -79,8 +79,8 @@ void AP_RC::init(int trims[])
TCCR1A = ((1 << WGM11) | (1 << COM1B1) | (1 << COM1A1)); TCCR1A = ((1 << WGM11) | (1 << COM1B1) | (1 << COM1A1));
TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11); TCCR1B = (1 << WGM13) | (1 << WGM12) | (1 << CS11);
// apply initial values // apply initial values
set_ch_pwm(CH1, 1500); set_ch_pwm(CH1, trims[CH1]);
set_ch_pwm(CH2, 1500); set_ch_pwm(CH2, trims[CH2]);
ICR1 = 40000; ICR1 = 40000;
// Throttle; // Throttle;
@ -90,8 +90,8 @@ void AP_RC::init(int trims[])
// apply initial values // apply initial values
//OCR2A = (trims[CH3]-1000) / 4; //OCR2A = (trims[CH3]-1000) / 4;
//OCR2B = trims[CH4] / 4; // center the rudder //OCR2B = trims[CH4] / 4; // center the rudder
set_ch_pwm(CH3, CH3TRIM); set_ch_pwm(CH3, trims[CH3]);
set_ch_pwm(CH4, 1500); set_ch_pwm(CH4, trims[CH4]);
TIMSK1 |= _BV(ICIE1); // Timer / Counter1, Input Capture Interrupt Enable // PB0 - output throttle TIMSK1 |= _BV(ICIE1); // Timer / Counter1, Input Capture Interrupt Enable // PB0 - output throttle
TIMSK2 = _BV(TOIE1) | _BV(OCIE2A) | _BV(OCIE2B); // Timer / Counter2 Compare Match A TIMSK2 = _BV(TOIE1) | _BV(OCIE2A) | _BV(OCIE2B); // Timer / Counter2 Compare Match A

2
libraries/AP_RC/examples/AP_radio/AP_radio.pde
View File

@ -19,7 +19,7 @@ void setup()
Serial.begin(38400); Serial.begin(38400);
Serial.println("ArduPilot RC library test"); Serial.println("ArduPilot RC library test");
int trims[] = {1500,1500,1200,1500}; int trims[] = {1500,1500,1100,1500};
rc.init(trims); rc.init(trims);
delay(1000); delay(1000);