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Copter: fixed ESC calibration on Pixhawk 

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
View File

@ -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;
}
}
}