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APM: allow ailerons to move fully during servo demo

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This commit is contained in:
Andrew Tridgell 2012-11-21 13:19:32 +11:00
parent fcbd3a823b
commit 61f2e18e2e
2 changed files with 9 additions and 1 deletions
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4
ArduPlane/Attitude.pde
View File

@ -508,10 +508,13 @@ static void set_servos(void)
#endif #endif
} }
static bool demoing_servos;
static void demo_servos(byte i) { static void demo_servos(byte i) {
while(i > 0) { while(i > 0) {
gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!")); gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
demoing_servos = true;
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS #if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
APM_RC.OutputCh(1, 1400); APM_RC.OutputCh(1, 1400);
mavlink_delay(400); mavlink_delay(400);
@ -519,6 +522,7 @@ static void demo_servos(byte i) {
mavlink_delay(200); mavlink_delay(200);
APM_RC.OutputCh(1, 1500); APM_RC.OutputCh(1, 1500);
#endif #endif
demoing_servos = false;
mavlink_delay(400); mavlink_delay(400);
i--; i--;
} }

6
ArduPlane/failsafe.pde
View File

@ -39,7 +39,11 @@ void failsafe_check(uint32_t tnow)
// pass RC inputs to outputs every 20ms // pass RC inputs to outputs every 20ms
last_timestamp = tnow; last_timestamp = tnow;
APM_RC.clearOverride(); APM_RC.clearOverride();
for (uint8_t ch=0; ch<4; ch++) { uint8_t start_ch = 0;
if (demoing_servos) {
start_ch = 1;
}
for (uint8_t ch=start_ch; ch<4; ch++) {
APM_RC.OutputCh(ch, APM_RC.InputCh(ch)); APM_RC.OutputCh(ch, APM_RC.InputCh(ch));
} }
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual); RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual);