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Copter: remove setup_aux_channels

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moved to individual motors libraries
This commit is contained in:
Randy Mackay 2014-02-07 22:03:57 +09:00
parent 14409ee20f
commit ac9f0b5fd1
1 changed files with 0 additions and 38 deletions
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38
ArduCopter/radio.pde
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@ -29,17 +29,6 @@ static void init_rc_in()
g.rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); g.rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
g.rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); g.rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
g.rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); g.rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
#if FRAME_CONFIG == SINGLE_FRAME
// we set four servos to angle
g.single_servo_1.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_2.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_3.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_4.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_1.set_angle(DEFAULT_ANGLE_MAX);
g.single_servo_2.set_angle(DEFAULT_ANGLE_MAX);
g.single_servo_3.set_angle(DEFAULT_ANGLE_MAX);
g.single_servo_4.set_angle(DEFAULT_ANGLE_MAX);
#endif
//set auxiliary servo ranges //set auxiliary servo ranges
g.rc_5.set_range(0,1000); g.rc_5.set_range(0,1000);
@ -51,31 +40,6 @@ static void init_rc_in()
default_dead_zones(); default_dead_zones();
} }
/*
disable any channels used for motors to ensure they are not used
for auxillary functions
*/
void setup_aux_channels()
{
#if (FRAME_CONFIG == TRI_FRAME || FRAME_CONFIG == SINGLE_FRAME)
// Tri's and Singles use CH7 as a motor
RC_Channel_aux::disable_aux_channel(CH_7);
#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
// Hexa and Y6 use channels 5 and 6 for motors
RC_Channel_aux::disable_aux_channel(CH_5);
RC_Channel_aux::disable_aux_channel(CH_6);
#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
// Octa and X8 use channels 5-8 as motors
RC_Channel_aux::disable_aux_channel(CH_5);
RC_Channel_aux::disable_aux_channel(CH_6);
RC_Channel_aux::disable_aux_channel(CH_7);
RC_Channel_aux::disable_aux_channel(CH_8);
#elif (FRAME_CONFIG == HELI_FRAME)
// Heli's use channel 8 for a motor
RC_Channel_aux::disable_aux_channel(CH_8);
#endif
}
// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration // init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
static void init_rc_out() static void init_rc_out()
{ {
@ -121,8 +85,6 @@ static void init_rc_out()
if (ap.pre_arm_rc_check) { if (ap.pre_arm_rc_check) {
output_min(); output_min();
} }
setup_aux_channels();
} }
// output_min - enable and output lowest possible value to motors // output_min - enable and output lowest possible value to motors