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More flexible RC support

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This commit is contained in:
Amilcar Lucas 2012-08-04 18:39:20 +02:00
parent d29f7023cc
commit bbc4bdb729
3 changed files with 47 additions and 2 deletions
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18
ArduCopter/radio.pde
View File

@ -4,6 +4,9 @@
// ---------------------------------------------------------------------------- // ----------------------------------------------------------------------------
static int8_t failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling static int8_t failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
extern RC_Channel* rc_ch[8];
static void default_dead_zones() static void default_dead_zones()
{ {
g.rc_1.set_dead_zone(60); g.rc_1.set_dead_zone(60);
@ -37,6 +40,15 @@ static void init_rc_in()
g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW); g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW);
g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW); g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
rc_ch[CH_1] = &g.rc_1;
rc_ch[CH_2] = &g.rc_2;
rc_ch[CH_3] = &g.rc_3;
rc_ch[CH_4] = &g.rc_4;
rc_ch[CH_5] = &g.rc_5;
rc_ch[CH_6] = &g.rc_6;
rc_ch[CH_7] = &g.rc_7;
rc_ch[CH_8] = &g.rc_8;
//set auxiliary ranges //set auxiliary ranges
g.rc_5.set_range(0,1000); g.rc_5.set_range(0,1000);
g.rc_6.set_range(0,1000); g.rc_6.set_range(0,1000);
@ -51,6 +63,12 @@ static void init_rc_in()
static void init_rc_out() static void init_rc_out()
{ {
APM_RC.Init( &isr_registry ); // APM Radio initialization APM_RC.Init( &isr_registry ); // APM Radio initialization
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
APM_RC.enable_out(CH_9);
APM_RC.enable_out(CH_10);
APM_RC.enable_out(CH_11);
#endif
#if INSTANT_PWM == 1 #if INSTANT_PWM == 1
motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM); motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
#else #else

27
ArduPlane/radio.pde
View File

@ -5,6 +5,8 @@
static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling static byte failsafeCounter = 0; // we wait a second to take over the throttle and send the plane circling
extern RC_Channel* rc_ch[8];
static void init_rc_in() static void init_rc_in()
{ {
// set rc reversing // set rc reversing
@ -27,6 +29,15 @@ static void init_rc_in()
//g.channel_rudder.dead_zone = 60; //g.channel_rudder.dead_zone = 60;
//g.channel_throttle.dead_zone = 6; //g.channel_throttle.dead_zone = 6;
rc_ch[CH_1] = &g.channel_roll;
rc_ch[CH_2] = &g.channel_pitch;
rc_ch[CH_3] = &g.channel_throttle;
rc_ch[CH_4] = &g.channel_rudder;
rc_ch[CH_5] = &g.rc_5;
rc_ch[CH_6] = &g.rc_6;
rc_ch[CH_7] = &g.rc_7;
rc_ch[CH_8] = &g.rc_8;
//set auxiliary ranges //set auxiliary ranges
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
@ -48,6 +59,12 @@ static void init_rc_out()
APM_RC.enable_out(CH_7); APM_RC.enable_out(CH_7);
APM_RC.enable_out(CH_8); APM_RC.enable_out(CH_8);
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
APM_RC.enable_out(CH_9);
APM_RC.enable_out(CH_10);
APM_RC.enable_out(CH_11);
#endif
APM_RC.OutputCh(CH_1, g.channel_roll.radio_trim); // Initialization of servo outputs APM_RC.OutputCh(CH_1, g.channel_roll.radio_trim); // Initialization of servo outputs
APM_RC.OutputCh(CH_2, g.channel_pitch.radio_trim); APM_RC.OutputCh(CH_2, g.channel_pitch.radio_trim);
APM_RC.OutputCh(CH_3, g.channel_throttle.radio_min); APM_RC.OutputCh(CH_3, g.channel_throttle.radio_min);
@ -55,8 +72,14 @@ static void init_rc_out()
APM_RC.OutputCh(CH_5, g.rc_5.radio_trim); APM_RC.OutputCh(CH_5, g.rc_5.radio_trim);
APM_RC.OutputCh(CH_6, g.rc_6.radio_trim); APM_RC.OutputCh(CH_6, g.rc_6.radio_trim);
APM_RC.OutputCh(CH_7, g.rc_7.radio_trim); APM_RC.OutputCh(CH_7, g.rc_7.radio_trim);
APM_RC.OutputCh(CH_8, g.rc_8.radio_trim); APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
APM_RC.OutputCh(CH_9, g.rc_9.radio_trim);
APM_RC.OutputCh(CH_10, g.rc_10.radio_trim);
APM_RC.OutputCh(CH_11, g.rc_11.radio_trim);
#endif
} }
static void read_radio() static void read_radio()

4
libraries/RC_Channel/RC_Channel.cpp
View File

@ -22,6 +22,10 @@
#define RC_CHANNEL_RANGE 1 #define RC_CHANNEL_RANGE 1
#define RC_CHANNEL_ANGLE_RAW 2 #define RC_CHANNEL_ANGLE_RAW 2
/// global array with pointers to all APM RC channels, will be used by AP_Mount and AP_Camera classes
/// It points to RC input channels, both APM1 and APM2 only have 8 input channels.
RC_Channel* rc_ch[8];
APM_RC_Class *RC_Channel::_apm_rc; APM_RC_Class *RC_Channel::_apm_rc;
const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = { const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {