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AntennaTracker: now supports mavlink arm and disarm commands to disable antenna servo outputs

This commit is contained in:
Mike McCauley 2014-03-04 10:37:15 +10:00 committed by Andrew Tridgell
parent c90d3ff59e
commit b1e00c695e
2 changed files with 29 additions and 3 deletions
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16
Tools/AntennaTracker/GCS_Mavlink.pde
View File

@ -866,6 +866,22 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
if (packet.param1 == 1.0f) {
arm_servos();
result = MAV_RESULT_ACCEPTED;
} else if (packet.param1 == 0.0f) {
disarm_servos();
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_UNSUPPORTED;
}
} else {
result = MAV_RESULT_UNSUPPORTED;
}
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
{
if (packet.param1 == 1 || packet.param1 == 3) {

16
Tools/AntennaTracker/system.pde
View File

@ -72,10 +72,8 @@ static void init_tracker()
channel_yaw.calc_pwm();
channel_pitch.calc_pwm();
channel_yaw.enable_out();
channel_pitch.enable_out();
home_loc = get_home_eeprom(); // GPS may update this later
arm_servos();
gcs_send_text_P(SEVERITY_LOW,PSTR("\nReady to track."));
hal.scheduler->delay(1000); // Why????
@ -191,3 +189,15 @@ static void set_home(struct Location temp)
set_home_eeprom(temp);
home_loc = temp;
}
static void arm_servos()
{
channel_yaw.enable_out();
channel_pitch.enable_out();
}
static void disarm_servos()
{
channel_yaw.disable_out();
channel_pitch.disable_out();
}