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ArduCopter Channel Config: config vars for user override of MOT_n mapping 

* config variable CONFIG_CHANNELS has possible values
  CHANNEL_CONFIG_DEFAULT or CHANNEL_CONFIG_CUSTOM
* config_channels.h only provides APM1/APM2 mapping when
  CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
This commit is contained in:
Pat Hickey 2012-02-11 15:53:09 -08:00
parent 0315221bd1
commit db4195b7a0
3 changed files with 34 additions and 19 deletions
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7
ArduCopter/config.h
View File

@ -188,6 +188,13 @@
# define CONFIG_SONAR ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Channel Config (custom MOT channel mappings)
//
#ifndef CONFIG_CHANNELS
# define CONFIG_CHANNELS CHANNEL_CONFIG_DEFAULT
#endif
//////////////////////////////////////////////////////////////////////////////
// Acrobatics

41
ArduCopter/config_channels.h
View File

@ -16,31 +16,34 @@
//////////////////////////////////////////////////////////////////////////////
//
#include "config.h"
#include "config.h" // Parent Config File
#include "APM_Config.h" // User Overrides
//
//
// Output CH mapping for ArduCopter motor channels
//
//
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_5
# define MOT_6 CH_6
# define MOT_7 CH_7
# define MOT_8 CH_8
#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_7
# define MOT_6 CH_8
# define MOT_7 CH_10
# define MOT_8 CH_11
#if CONFIG_CHANNELS == CHANNEL_CONFIG_DEFAULT
# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_5
# define MOT_6 CH_6
# define MOT_7 CH_7
# define MOT_8 CH_8
# elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
# define MOT_1 CH_1
# define MOT_2 CH_2
# define MOT_3 CH_3
# define MOT_4 CH_4
# define MOT_5 CH_7
# define MOT_6 CH_8
# define MOT_7 CH_10
# define MOT_8 CH_11
# endif
#endif
//

5
ArduCopter/defines.h
View File

@ -369,4 +369,9 @@ enum gcs_severity {
#define LOGGING_SIMPLE 1
#define LOGGING_VERBOSE 2
// Channel Config selection
#define CHANNEL_CONFIG_DEFAULT 1
#define CHANNEL_CONFIG_CUSTOM 2
#endif // _DEFINES_H