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prepared support for Mode 1 & Mode 2 radios 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@768 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jphelirc 2010-11-03 16:52:04 +00:00
parent 6f70fddea4
commit eb5f4d7d32
3 changed files with 16 additions and 1 deletions
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5
ArducopterNG/Arducopter.h
View File

@ -447,6 +447,11 @@ unsigned long elapsedTime = 0; // for doing custom events
#define GPSDEV_IMU 4 #define GPSDEV_IMU 4
#define GPSDEV_NMEA 5 #define GPSDEV_NMEA 5
// Radio Modes, mainly just Mode2
#define MODE1 1
#define MODE2 2
#define MODE3 3
#define MODE4 4
// Following variables stored in EEPROM // Following variables stored in EEPROM
float KP_QUAD_ROLL; float KP_QUAD_ROLL;

10
ArducopterNG/ArducopterNG.pde
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@ -96,6 +96,14 @@
//#define GpsBau 115200 //#define GpsBau 115200
/* ************************************************* */
// Radio modes
#define RADIOMODE MODE2 // Most users have this eg: left stick: Throttle/Rudder, right stick: Elevator/Aileron
//#define RADIOMODE MODE1 // Only if you are sure that you have Mode 1 radio.
// NOTE! MODE1 is not working yet, we need to have input from users to be sure of channel orders. 03-11-10, jp
/* ************************************************* */ /* ************************************************* */
// Flight & Electronics orientation // Flight & Electronics orientation
@ -144,6 +152,8 @@
/* ************************************************************ */ /* ************************************************************ */
/* **************** MAIN PROGRAM - INCLUDES ******************* */ /* **************** MAIN PROGRAM - INCLUDES ******************* */
/* ************************************************************ */ /* ************************************************************ */

2
ArducopterNG/Navigation.pde
View File

@ -42,7 +42,7 @@ void read_GPS_data()
GPS.NewData=0; // We Reset the flag... GPS.NewData=0; // We Reset the flag...
// Write GPS data to DataFlash log // Write GPS data to DataFlash log
Log_Write_GPS(GPS.Time, GPS.Lattitude,GPS.Longitude,GPS.Altitude,GPS.Altitude,GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats); Log_Write_GPS(GPS.Time, GPS.Lattitude, GPS.Longitude, GPS.Altitude, GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
//if (GPS.Fix >= 2) //if (GPS.Fix >= 2)
if (GPS.Fix) if (GPS.Fix)