mirror of https://github.com/ArduPilot/ardupilot
ArduPPM 0.9.86 update :
#define to allow Radio Passthrough mode disabling on APM v1.4 (hardware failsafe for Arduplane) This is to allow for safe use of CH8 with Arducopter.
This commit is contained in:
parent
a8522dd1b0
commit
a816d2ae4a
|
@ -1,5 +1,5 @@
|
|||
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
// ARDUCODER Version v0.9.85
|
||||
// ArduPPM Version v0.9.86
|
||||
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
// ARDUCOPTER 2 : PPM ENCODER for AT Mega 328p and APM v1.4 Boards
|
||||
// By:John Arne Birkeland - 2011
|
||||
|
@ -33,6 +33,7 @@
|
|||
// 0.9.83 : Implemented PPM passtrough failsafe
|
||||
// 0.9.84 : Corrected pin and port names in Encoder-PPM.c according to #define for Mega32U2 compatibility
|
||||
// 0.9.85 : Added brownout reset detection flag
|
||||
// 0.9.86 : Added a #define to disable Radio Passthrough mode (hardware failsafe for Arduplane)
|
||||
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
// PREPROCESSOR DIRECTIVES
|
||||
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
|
@ -41,10 +42,11 @@
|
|||
#include <util/delay.h>
|
||||
|
||||
|
||||
#define ERROR_THRESHOLD 1 // Number of servo input errors before alerting
|
||||
#define ERROR_THRESHOLD 2 // Number of servo input errors before alerting
|
||||
#define ERROR_DETECTION_WINDOW 3000 * LOOP_TIMER_10MS // Detection window for error detection (default to 30s)
|
||||
#define ERROR_CONDITION_DELAY 500 * LOOP_TIMER_10MS // Servo error condition LED delay (LED blinking duration)
|
||||
|
||||
#define PASSTHROUGH_MODE ENABLED // Set it to "DISABLED" to remove radio passthrough mode (hardware failsafe for Arduplane)
|
||||
#define PASSTHROUGH_CHANNEL 8 * 2 // Channel for passthrough mode selection
|
||||
#define PASSTHROUGH_CHANNEL_OFF_US ONE_US * 1600 - PPM_PRE_PULSE // Passthrough off threshold
|
||||
#define PASSTHROUGH_CHANNEL_ON_US ONE_US * 1800 - PPM_PRE_PULSE // Passthrough on threshold
|
||||
|
@ -87,8 +89,6 @@ int main(void)
|
|||
// LOCAL VARIABLES
|
||||
// ------------------------------------------------------------------------------------------------------------------------------------------------------------
|
||||
bool init = true; // We are inside init sequence
|
||||
int8_t mux_check = 0;
|
||||
uint16_t mux_ppm = 500;
|
||||
bool mux_passthrough = false; // Mux passthrough mode status Flag : passthrough is off
|
||||
uint16_t led_acceleration; // Led acceleration based on throttle stick position
|
||||
bool servo_error_condition = false; // Servo signal error condition
|
||||
|
@ -96,8 +96,14 @@ int main(void)
|
|||
static uint16_t servo_error_detection_timer=0; // Servo error detection timer
|
||||
static uint16_t servo_error_condition_timer=0; // Servo error condition timer
|
||||
static uint16_t blink_led_timer = 0; // Blink led timer
|
||||
|
||||
#if PASSTHROUGH_MODE == ENABLED
|
||||
static uint8_t mux_timer = 0; // Mux timer
|
||||
static uint8_t mux_counter = 0; // Mux counter
|
||||
static int8_t mux_check = 0;
|
||||
static uint16_t mux_ppm = 500;
|
||||
#endif
|
||||
|
||||
static uint16_t led_code_timer = 0; // Blink Code Timer
|
||||
static uint8_t led_code_symbol = 0; // Blink Code current symbol
|
||||
|
||||
|
@ -308,6 +314,7 @@ int main(void)
|
|||
PWM_LOOP: // SERVO_PWM_MODE
|
||||
while( 1 )
|
||||
{
|
||||
#if PASSTHROUGH_MODE == ENABLED
|
||||
// ------------------------------------------------------------------------------
|
||||
// Radio passthrough control (mux chip A/B control)
|
||||
// ------------------------------------------------------------------------------
|
||||
|
@ -355,7 +362,7 @@ int main(void)
|
|||
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
// ------------------------------------------------------------------------------
|
||||
// Status LED control
|
||||
|
|
Loading…
Reference in New Issue