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Copter: simplify do-set-servo mission command

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This potentially changes the servo number that must be supplied if using
an APM1 but it now shares the same logic as arduplane and also adds
protection that the servo is not attached to the motor.
removed debug message from previous commit.
This commit is contained in:
Randy Mackay 2014-01-15 14:36:50 +09:00
parent 67c2bc7d0b
commit 6d55895d30
2 changed files with 1 additions and 45 deletions
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44
ArduCopter/commands_logic.pde
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@ -900,49 +900,7 @@ static void do_set_home()
static void do_set_servo()
{
uint8_t channel_num = 0xff;
switch( command_cond_queue.p1 ) {
case 1:
channel_num = CH_1;
break;
case 2:
channel_num = CH_2;
break;
case 3:
channel_num = CH_3;
break;
case 4:
channel_num = CH_4;
break;
case 5:
channel_num = CH_5;
break;
case 6:
channel_num = CH_6;
break;
case 7:
channel_num = CH_7;
break;
case 8:
channel_num = CH_8;
break;
case 9:
// not used
break;
case 10:
channel_num = CH_10;
break;
case 11:
channel_num = CH_11;
break;
}
// send output to channel
if (channel_num != 0xff) {
hal.rcout->enable_ch(channel_num);
hal.rcout->write(channel_num, command_cond_queue.alt);
}
servo_write(command_cond_queue.p1 - 1, command_cond_queue.alt);
}
static void do_set_relay()

2
ArduCopter/motors.pde
View File

@ -548,8 +548,6 @@ static void servo_write(uint8_t ch, uint16_t pwm)
#error Unrecognised frame type
#endif
// debug -- remove me!
cliSerial->printf_P(PSTR("\nCh:%d %d %d\n"),(int)ch, (int)pwm, (int)servo_ok);
if (servo_ok) {
hal.rcout->enable_ch(ch);
hal.rcout->write(ch, pwm);