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Fixed APO controller bug preventing motor arming.

This commit is contained in:
James Goppert 2011-10-27 16:19:42 -04:00
parent c0c771042f
commit 5d9c37bbed
2 changed files with 4 additions and 1 deletions
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3
libraries/APO/AP_Controller.cpp
View File

@ -35,8 +35,10 @@ void AP_Controller::setAllRadioChannelsToNeutral() {
} }
void AP_Controller::setAllRadioChannelsManually() { void AP_Controller::setAllRadioChannelsManually() {
//_hal->debug->printf_P(PSTR("\tsize: %d\n"),_hal->rc.getSize());
for (uint8_t i = 0; i < _hal->rc.getSize(); i++) { for (uint8_t i = 0; i < _hal->rc.getSize(); i++) {
_hal->rc[i]->setUsingRadio(); _hal->rc[i]->setUsingRadio();
//_hal->debug->printf_P(PSTR("\trc %d: %f\n"),i,_hal->rc[i]->getPosition());
} }
} }
@ -100,6 +102,7 @@ void AP_Controller::setMotors() {
case MAV_STATE_ACTIVE: { case MAV_STATE_ACTIVE: {
digitalWrite(_hal->aLedPin, HIGH); digitalWrite(_hal->aLedPin, HIGH);
setMotorsActive(); setMotorsActive();
break;
} }
case MAV_STATE_EMERGENCY: { case MAV_STATE_EMERGENCY: {
digitalWrite(_hal->aLedPin, LOW); digitalWrite(_hal->aLedPin, LOW);

2
libraries/APO/examples/ServoManual/ServoManual.pde
View File

@ -61,7 +61,7 @@ public:
new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500, new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
1900, RC_MODE_INOUT, false)); 1900, RC_MODE_INOUT, false));
Serial.begin(115200); Serial.begin(57600);
delay(2000); delay(2000);
Serial.println("ArduPilot RC Channel test"); Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization APM_RC.Init(); // APM Radio initialization