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ArduCopter: restored set_range calls for RC_Channels 5 ~ 8.

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This commit is contained in:
rmackay9 2012-07-15 16:37:40 +09:00
parent 0dc0e3801c
commit f137f51ec0
1 changed files with 6 additions and 4 deletions
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10
ArduCopter/radio.pde
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@ -38,7 +38,11 @@ static void init_rc_in()
g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW); g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
//set auxiliary ranges //set auxiliary ranges
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8); g.rc_5.set_range(0,1000);
g.rc_6.set_range(0,1000);
g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000);
update_aux_servo_function(&g.rc_camera_roll, &g.rc_camera_pitch, &g.rc_camera_yaw);
} }
static void init_rc_out() static void init_rc_out()
@ -54,7 +58,6 @@ static void init_rc_out()
motors.set_min_throttle(g.throttle_min); motors.set_min_throttle(g.throttle_min);
motors.set_max_throttle(g.throttle_max); motors.set_max_throttle(g.throttle_max);
for(byte i = 0; i < 5; i++){ for(byte i = 0; i < 5; i++){
delay(20); delay(20);
read_radio(); read_radio();
@ -63,8 +66,6 @@ static void init_rc_out()
// we want the input to be scaled correctly // we want the input to be scaled correctly
g.rc_3.set_range_out(0,1000); g.rc_3.set_range_out(0,1000);
// sanity check - prevent unconfigured radios from outputting // sanity check - prevent unconfigured radios from outputting
if(g.rc_3.radio_min >= 1300){ if(g.rc_3.radio_min >= 1300){
g.rc_3.radio_min = g.rc_3.radio_in; g.rc_3.radio_min = g.rc_3.radio_in;
@ -102,6 +103,7 @@ static void init_rc_out()
void output_min() void output_min()
{ {
// enable motors
motors.enable(); motors.enable();
motors.output_min(); motors.output_min();
} }