Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-04 06:58:39 -04:00
Code Issues Packages Projects Releases Wiki Activity

Switched to generic servo output.

Browse Source 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@821 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-10 19:02:22 +00:00
parent 05ea4dce7d
commit b839951ce5
2 changed files with 16 additions and 58 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/APM_BinComm/protocol/protocol.def
View File

@ -224,15 +224,8 @@ message 0x60 MSG_SENSOR
#
# Simulation-related messages
#
message 0x70 MSG_SERVO_OUT_PLANE
int16_t rollServo
int16_t pitchServo
uint16_t throttleServo
int16_t yawServo
int16_t aux1
int16_t aux2
int16_t aux3
int16_t aux4
message 0x70 MSG_SERVO_OUT
int16_t value 8
#
# Direct I/O pin control

63
libraries/APM_BinComm/protocol/protocol.h
View File

@ -1024,69 +1024,34 @@ unpack_msg_sensor(
//@}
//////////////////////////////////////////////////////////////////////
/// @name MSG_SERVO_OUT_PLANE
/// @name MSG_SERVO_OUT
//@{
/// Structure describing the payload section of the MSG_SERVO_OUT_PLANE message
struct msg_servo_out_plane {
int16_t rollServo;
int16_t pitchServo;
uint16_t throttleServo;
int16_t yawServo;
int16_t aux1;
int16_t aux2;
int16_t aux3;
int16_t aux4;
/// Structure describing the payload section of the MSG_SERVO_OUT message
struct msg_servo_out {
int16_t value[8];
};
/// Send a MSG_SERVO_OUT_PLANE message
/// Send a MSG_SERVO_OUT message
inline void
send_msg_servo_out_plane(
const int16_t rollServo,
const int16_t pitchServo,
const uint16_t throttleServo,
const int16_t yawServo,
const int16_t aux1,
const int16_t aux2,
const int16_t aux3,
const int16_t aux4)
send_msg_servo_out(
const int16_t (&value)[8])
{
uint8_t *__p = &_encodeBuf.payload[0];
_pack(__p, rollServo);
_pack(__p, pitchServo);
_pack(__p, throttleServo);
_pack(__p, yawServo);
_pack(__p, aux1);
_pack(__p, aux2);
_pack(__p, aux3);
_pack(__p, aux4);
_pack(__p, value, 8);
_encodeBuf.header.length = 16;
_encodeBuf.header.messageID = MSG_SERVO_OUT_PLANE;
_encodeBuf.header.messageID = MSG_SERVO_OUT;
_encodeBuf.header.messageVersion = MSG_VERSION_1;
_sendMessage();
};
/// Unpack a MSG_SERVO_OUT_PLANE message
/// Unpack a MSG_SERVO_OUT message
inline void
unpack_msg_servo_out_plane(
int16_t &rollServo,
int16_t &pitchServo,
uint16_t &throttleServo,
int16_t &yawServo,
int16_t &aux1,
int16_t &aux2,
int16_t &aux3,
int16_t &aux4)
unpack_msg_servo_out(
int16_t (&value)[8])
{
uint8_t *__p = &_decodeBuf.payload[0];
_unpack(__p, rollServo);
_unpack(__p, pitchServo);
_unpack(__p, throttleServo);
_unpack(__p, yawServo);
_unpack(__p, aux1);
_unpack(__p, aux2);
_unpack(__p, aux3);
_unpack(__p, aux4);
_unpack(__p, value, 8);
};
//@}
@ -1311,7 +1276,7 @@ enum MessageID {
MSG_RADIO_OUT = 0x53,
MSG_EEPROM_REQUEST = 0xa0,
MSG_EEPROM_SET = 0xa1,
MSG_SERVO_OUT_PLANE = 0x70,
MSG_SERVO_OUT = 0x70,
MSG_PIN_REQUEST = 0x80,
MSG_PIN_SET = 0x81,
MSG_DATAFLASH_REQUEST = 0x90,