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RC_Channel: update example sketch to copy input to output

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This commit is contained in:
Andrew Tridgell 2014-12-02 16:27:33 +11:00
parent 5aabfd4dc4
commit 86bf02d64c
1 changed files with 54 additions and 116 deletions
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170
libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
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@ -1,8 +1,6 @@
/*
* Example of RC_Channel library.
* Code by Jason Short. 2010
* DIYDrones.com
*
* Based on original sketch by Jason Short. 2010
*/
#define CH_1 0
#define CH_2 1
@ -20,40 +18,59 @@
#include <StorageManager.h>
#include <AP_Math.h>
#include <RC_Channel.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_Empty.h>
#include <AP_Baro.h>
#include <AP_ADC.h>
#include <AP_GPS.h>
#include <AP_InertialSensor.h>
#include <AP_Notify.h>
#include <DataFlash.h>
#include <GCS_MAVLink.h>
#include <AP_Mission.h>
#include <StorageManager.h>
#include <AP_Terrain.h>
#include <AP_Compass.h>
#include <AP_Declination.h>
#include <SITL.h>
#include <Filter.h>
#include <AP_AHRS.h>
#include <AP_Airspeed.h>
#include <AP_Vehicle.h>
#include <AP_ADC_AnalogSource.h>
#include <AP_NavEKF.h>
#include <AP_Rally.h>
#include <AP_Scheduler.h>
#include <UARTDriver.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
RC_Channel rc_1(CH_1);
RC_Channel rc_2(CH_2);
RC_Channel rc_3(CH_3);
RC_Channel rc_4(CH_4);
RC_Channel rc_5(CH_5);
RC_Channel rc_6(CH_6);
RC_Channel rc_7(CH_7);
RC_Channel rc_8(CH_8);
RC_Channel *rc = &rc_1;
#define NUM_CHANNELS 8
static RC_Channel rc_1(CH_1);
static RC_Channel rc_2(CH_2);
static RC_Channel rc_3(CH_3);
static RC_Channel rc_4(CH_4);
static RC_Channel rc_5(CH_5);
static RC_Channel rc_6(CH_6);
static RC_Channel rc_7(CH_7);
static RC_Channel rc_8(CH_8);
static RC_Channel *rc = &rc_1;
void setup()
{
hal.console->println("ArduPilot RC Channel test");
hal.scheduler->delay(500);
setup_radio();
print_radio_values();
// set type of output, symmetrical angles or a number range;
// XXX BROKEN
rc_1.set_angle(4500);
rc_1.set_default_dead_zone(80);
rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
// XXX BROKEN
rc_2.set_angle(4500);
rc_2.set_default_dead_zone(80);
rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
@ -71,62 +88,33 @@ void setup()
rc_7.set_range(0,1000);
rc_8.set_range(0,1000);
for (int i = 0; i < 30; i++) {
read_radio();
for (int i=0; i<NUM_CHANNELS; i++) {
rc[i].enable_out();
}
rc_1.trim();
rc_2.trim();
rc_4.trim();
}
void loop()
{
hal.scheduler->delay(20);
debug_rcin();
read_radio();
RC_Channel::set_pwm_all();
print_pwm();
copy_input_output();
hal.scheduler->delay(20);
}
void debug_rcin() {
uint16_t channels[8];
hal.rcin->read(channels, 8);
hal.console->printf_P(
PSTR("rcin: %u %u %u %u %u %u %u %u\r\n"),
channels[0],
channels[1],
channels[2],
channels[3],
channels[4],
channels[5],
channels[6],
channels[7]);
}
void read_radio()
static void print_pwm(void)
{
rc_1.set_pwm(hal.rcin->read(CH_1));
rc_2.set_pwm(hal.rcin->read(CH_2));
rc_3.set_pwm(hal.rcin->read(CH_3));
rc_4.set_pwm(hal.rcin->read(CH_4));
rc_5.set_pwm(hal.rcin->read(CH_5));
rc_6.set_pwm(hal.rcin->read(CH_6));
rc_7.set_pwm(hal.rcin->read(CH_7));
rc_8.set_pwm(hal.rcin->read(CH_8));
}
void print_pwm()
{
for (int i=0; i<8; i++) {
for (int i=0; i<NUM_CHANNELS; i++) {
hal.console->printf("ch%u: %4d ", (unsigned)i+1, (int)rc[i].control_in);
}
hal.console->printf("\n");
}
void print_radio_values()
static void print_radio_values()
{
for (int i=0; i<8; i++) {
for (int i=0; i<NUM_CHANNELS; i++) {
hal.console->printf("CH%u: %u|%u\n",
(unsigned)i+1,
(unsigned)rc[i].radio_min,
@ -135,66 +123,16 @@ void print_radio_values()
}
void setup_radio(void)
/*
copy scaled input to output
*/
static void copy_input_output(void)
{
hal.console->println("\n\nRadio Setup:");
uint8_t i;
for(i = 0; i < 100;i++){
hal.scheduler->delay(20);
read_radio();
for (int i=0; i<NUM_CHANNELS; i++) {
rc[i].servo_out = rc[i].control_in;
rc[i].calc_pwm();
rc[i].output();
}
rc_1.radio_min = rc_1.radio_in;
rc_2.radio_min = rc_2.radio_in;
rc_3.radio_min = rc_3.radio_in;
rc_4.radio_min = rc_4.radio_in;
rc_5.radio_min = rc_5.radio_in;
rc_6.radio_min = rc_6.radio_in;
rc_7.radio_min = rc_7.radio_in;
rc_8.radio_min = rc_8.radio_in;
rc_1.radio_max = rc_1.radio_in;
rc_2.radio_max = rc_2.radio_in;
rc_3.radio_max = rc_3.radio_in;
rc_4.radio_max = rc_4.radio_in;
rc_5.radio_max = rc_5.radio_in;
rc_6.radio_max = rc_6.radio_in;
rc_7.radio_max = rc_7.radio_in;
rc_8.radio_max = rc_8.radio_in;
rc_1.radio_trim = rc_1.radio_in;
rc_2.radio_trim = rc_2.radio_in;
rc_4.radio_trim = rc_4.radio_in;
// 3 is not trimed
rc_5.radio_trim = 1500;
rc_6.radio_trim = 1500;
rc_7.radio_trim = 1500;
rc_8.radio_trim = 1500;
hal.console->println("\nMove all controls to each extreme. Hit Enter to save:");
while(1){
hal.scheduler->delay(20);
// Filters radio input - adjust filters in the radio.pde file
// ----------------------------------------------------------
read_radio();
rc_1.update_min_max();
rc_2.update_min_max();
rc_3.update_min_max();
rc_4.update_min_max();
rc_5.update_min_max();
rc_6.update_min_max();
rc_7.update_min_max();
rc_8.update_min_max();
if(hal.console->available() > 0) {
hal.console->println("Radio calibrated, Showing control values:");
break;
}
}
return;
}
AP_HAL_MAIN();