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ACM: added RC_SPEED MAVLink parameter 

this will set the speed for APM_RC.SetFastOutputChannels()
This commit is contained in:
Andrew Tridgell 2012-03-02 17:24:18 +11:00
parent 63ea5dfb49
commit bfca928211
2 changed files with 7 additions and 0 deletions
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4
ArduCopter/Parameters.h
View File

@ -145,6 +145,7 @@ public:
k_param_radio_tuning_low, k_param_radio_tuning_low,
k_param_camera_pitch_gain, k_param_camera_pitch_gain,
k_param_camera_roll_gain, k_param_camera_roll_gain,
k_param_rc_speed,
// //
// 200: flight modes // 200: flight modes
@ -293,6 +294,7 @@ public:
RC_Channel rc_8; RC_Channel rc_8;
RC_Channel rc_camera_pitch; RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll; RC_Channel rc_camera_roll;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
AP_Float camera_pitch_gain; AP_Float camera_pitch_gain;
AP_Float camera_roll_gain; AP_Float camera_roll_gain;
@ -401,6 +403,8 @@ public:
heli_collective_yaw_effect (0), heli_collective_yaw_effect (0),
#endif #endif
rc_speed(RC_FAST_SPEED),
camera_pitch_gain (CAM_PITCH_GAIN), camera_pitch_gain (CAM_PITCH_GAIN),
camera_roll_gain (CAM_ROLL_GAIN), camera_roll_gain (CAM_ROLL_GAIN),
stabilize_d (STABILIZE_D), stabilize_d (STABILIZE_D),

3
ArduCopter/Parameters.pde
View File

@ -105,6 +105,9 @@ static const AP_Param::Info var_info[] PROGMEM = {
GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel), GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel),
GGROUP(rc_camera_roll, "CAM_R_", RC_Channel), GGROUP(rc_camera_roll, "CAM_R_", RC_Channel),
// speed of fast RC channels in Hz
GSCALAR(rc_speed, "RC_SPEED"),
// variable // variable
//--------- //---------
GSCALAR(camera_pitch_gain, "CAM_P_G"), GSCALAR(camera_pitch_gain, "CAM_P_G"),