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Plane: support 14 RC channels on PX4

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This commit is contained in:
Andrew Tridgell 2014-03-25 14:42:15 +11:00
parent c0767eebff
commit ff70c87f0b
4 changed files with 18 additions and 0 deletions
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2
ArduPlane/Attitude.pde
View File

@ -975,6 +975,8 @@ static void set_servos(void)
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
g.rc_12.output_ch(CH_12); g.rc_12.output_ch(CH_12);
g.rc_13.output_ch(CH_13);
g.rc_14.output_ch(CH_14);
#endif #endif
} }

6
ArduPlane/Parameters.h
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@ -218,6 +218,8 @@ public:
k_param_fs_batt_mah, k_param_fs_batt_mah,
k_param_short_fs_timeout, k_param_short_fs_timeout,
k_param_long_fs_timeout, k_param_long_fs_timeout,
k_param_rc_13,
k_param_rc_14,
// //
// 200: Feed-forward gains // 200: Feed-forward gains
@ -442,6 +444,8 @@ public:
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
RC_Channel_aux rc_12; RC_Channel_aux rc_12;
RC_Channel_aux rc_13;
RC_Channel_aux rc_14;
#endif #endif
uint8_t _dummy; uint8_t _dummy;
@ -465,6 +469,8 @@ public:
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
rc_12 (CH_12), rc_12 (CH_12),
rc_13 (CH_13),
rc_14 (CH_14),
#endif #endif
_dummy(0) _dummy(0)
{} {}

8
ArduPlane/Parameters.pde
View File

@ -863,6 +863,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Group: RC12_ // @Group: RC12_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp // @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_12, "RC12_", RC_Channel_aux), GGROUP(rc_12, "RC12_", RC_Channel_aux),
// @Group: RC13_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_13, "RC13_", RC_Channel_aux),
// @Group: RC14_
// @Path: ../libraries/RC_Channel/RC_Channel.cpp,../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_14, "RC14_", RC_Channel_aux),
#endif #endif
// @Group: RLL2SRV_ // @Group: RLL2SRV_

2
ArduPlane/radio.pde
View File

@ -65,6 +65,8 @@ static void init_rc_out()
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
servo_write(CH_12, g.rc_12.radio_trim); servo_write(CH_12, g.rc_12.radio_trim);
servo_write(CH_13, g.rc_13.radio_trim);
servo_write(CH_14, g.rc_14.radio_trim);
#endif #endif
// setup PX4 to output the min throttle when safety off if arming // setup PX4 to output the min throttle when safety off if arming