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Copter: fixed ESC calibration on Pixhawk

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this ensures motors are armed after safety is pressed, and also gives
print out of channel inputs and outputs on USB console for debug
purposes

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2014-07-29 13:59:28 +10:00
parent 053a45e9cf
commit 91ec4e56d5
1 changed files with 14 additions and 4 deletions
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18
ArduCopter/setup.pde
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@ -468,14 +468,24 @@ init_esc()
// reduce update rate to motors to 50Hz
motors.set_update_rate(50);
// we enable the motors directly here instead of calling output_min because output_min would send a low signal to the ESC and disrupt the calibration process
motors.enable();
motors.armed(true);
uint32_t last_print_ms = 0;
while(1) {
motors.armed(true);
motors.enable();
read_radio();
delay(100);
delay(10);
AP_Notify::flags.esc_calibration = true;
motors.throttle_pass_through();
uint32_t now = hal.scheduler->millis();
if (now - last_print_ms > 1000) {
hal.console->printf_P(PSTR("ESC cal input: %u %u %u %u output: %u %u %u %u\n"),
(unsigned)hal.rcin->read(0), (unsigned)hal.rcin->read(1),
(unsigned)hal.rcin->read(2), (unsigned)hal.rcin->read(3),
(unsigned)hal.rcout->read(0), (unsigned)hal.rcout->read(1),
(unsigned)hal.rcout->read(2), (unsigned)hal.rcout->read(3));
last_print_ms = now;
}
}
}