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Rover: updated for new RC_Channel_aux API

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This commit is contained in:
Andrew Tridgell 2012-09-08 15:13:38 +10:00
parent 49468953a3
commit 6e15aa68b8
1 changed files with 2 additions and 6 deletions
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8
APMrover2/radio.pde
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@ -176,13 +176,12 @@ static void trim_control_surfaces()
g.channel_roll.radio_trim = g.channel_roll.radio_max + g.channel_roll.radio_min - g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_max + g.channel_pitch.radio_min - g.channel_pitch.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_max + g.channel_rudder.radio_min - g.channel_rudder.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron);
} else {
g.channel_roll.radio_trim = 1500; // case of HIL test without receiver active
g.channel_pitch.radio_trim = 1500;
g.channel_rudder.radio_trim = 1500;
g.channel_throttle.radio_trim = 1000;
G_RC_AUX(k_aileron)->radio_trim = 1500;
}
}else{
@ -200,7 +199,6 @@ static void trim_control_surfaces()
g.channel_pitch.save_eeprom();
//g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}
static void trim_radio()
@ -217,13 +215,12 @@ static void trim_radio()
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron);
} else {
g.channel_roll.radio_trim = 1500; // case of HIL test without receiver active
g.channel_pitch.radio_trim = 1500;
g.channel_rudder.radio_trim = 1500;
g.channel_throttle.radio_trim = 1000;
G_RC_AUX(k_aileron)->radio_trim = 1500;
}
} else {
@ -240,5 +237,4 @@ static void trim_radio()
g.channel_pitch.save_eeprom();
//g.channel_throttle.save_eeprom();
g.channel_rudder.save_eeprom();
G_RC_AUX(k_aileron)->save_eeprom();
}