mirror of https://github.com/ArduPilot/ardupilot
Sub: Add forward and strafe input channels
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2bacc2fea2
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@ -162,6 +162,8 @@ private:
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RC_Channel *channel_pitch;
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RC_Channel *channel_pitch;
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RC_Channel *channel_throttle;
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RC_Channel *channel_throttle;
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RC_Channel *channel_yaw;
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RC_Channel *channel_yaw;
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RC_Channel *channel_forward;
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RC_Channel *channel_strafe;
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// Dataflash
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// Dataflash
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DataFlash_Class DataFlash{FIRMWARE_STRING};
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DataFlash_Class DataFlash{FIRMWARE_STRING};
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@ -27,16 +27,22 @@ void Copter::init_rc_in()
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channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
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channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
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channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
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channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
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channel_yaw = RC_Channel::rc_channel(rcmap.yaw()-1);
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channel_yaw = RC_Channel::rc_channel(rcmap.yaw()-1);
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channel_forward = RC_Channel::rc_channel(rcmap.forward()-1);
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channel_strafe = RC_Channel::rc_channel(rcmap.strafe()-1);
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// set rc channel ranges
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// set rc channel ranges
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channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_yaw->set_angle(4500);
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channel_yaw->set_angle(4500);
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channel_throttle->set_range(g.throttle_min, THR_MAX);
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channel_throttle->set_range(g.throttle_min, THR_MAX);
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channel_forward->set_angle(4500);
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channel_strafe->set_angle(4500);
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channel_roll->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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channel_roll->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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channel_pitch->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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channel_pitch->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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channel_yaw->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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channel_yaw->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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channel_forward->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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channel_strafe->set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
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//set auxiliary servo ranges
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//set auxiliary servo ranges
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g.rc_5.set_range(0,1000);
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g.rc_5.set_range(0,1000);
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