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More work on ch9, 10 and 11

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This commit is contained in:
Amilcar Lucas 2012-08-04 19:44:41 +02:00
parent 95f2af6d2d
commit 9c1ac2d9e6
4 changed files with 14 additions and 6 deletions
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11
ArduCopter/radio.pde
View File

@ -5,7 +5,7 @@
static int8_t failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling static int8_t failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
extern RC_Channel* rc_ch[8]; extern RC_Channel* rc_ch[NUM_CHANNELS];
static void default_dead_zones() static void default_dead_zones()
{ {
@ -65,9 +65,12 @@ static void init_rc_out()
APM_RC.Init( &isr_registry ); // APM Radio initialization APM_RC.Init( &isr_registry ); // APM Radio initialization
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1 #if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
APM_RC.enable_out(CH_9); APM_RC.enable_out(CH_9);
APM_RC.enable_out(CH_10); APM_RC.enable_out(CH_10);
APM_RC.enable_out(CH_11); APM_RC.enable_out(CH_11);
APM_RC.OutputCh(CH_9, g.rc_9.radio_trim);
APM_RC.OutputCh(CH_10, g.rc_10.radio_trim);
APM_RC.OutputCh(CH_11, g.rc_11.radio_trim);
#endif #endif
#if INSTANT_PWM == 1 #if INSTANT_PWM == 1
motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM); motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);

5
ArduPlane/Attitude.pde
View File

@ -421,6 +421,11 @@ static void set_servos(void)
g.rc_6.output_ch(CH_6); g.rc_6.output_ch(CH_6);
g.rc_7.output_ch(CH_7); g.rc_7.output_ch(CH_7);
g.rc_8.output_ch(CH_8); g.rc_8.output_ch(CH_8);
# if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
g.rc_9.output_ch(CH_9);
g.rc_10.output_ch(CH_10);
g.rc_11.output_ch(CH_11);
# endif
#endif #endif
} }

2
ArduPlane/radio.pde
View File

@ -5,7 +5,7 @@
static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
extern RC_Channel* rc_ch[8]; extern RC_Channel* rc_ch[NUM_CHANNELS];
static void init_rc_in() static void init_rc_in()
{ {

2
libraries/RC_Channel/RC_Channel.cpp
View File

@ -24,7 +24,7 @@
/// global array with pointers to all APM RC channels, will be used by AP_Mount and AP_Camera classes /// global array with pointers to all APM RC channels, will be used by AP_Mount and AP_Camera classes
/// It points to RC input channels, both APM1 and APM2 only have 8 input channels. /// It points to RC input channels, both APM1 and APM2 only have 8 input channels.
RC_Channel* rc_ch[8]; RC_Channel* rc_ch[NUM_CHANNELS];
APM_RC_Class *RC_Channel::_apm_rc; APM_RC_Class *RC_Channel::_apm_rc;