mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
#include "Sub.h"
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void Sub::init_rc_in()
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{
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channel_pitch = RC_Channels::rc_channel(0);
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channel_roll = RC_Channels::rc_channel(1);
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channel_throttle = RC_Channels::rc_channel(2);
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channel_yaw = RC_Channels::rc_channel(3);
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channel_forward = RC_Channels::rc_channel(4);
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channel_lateral = RC_Channels::rc_channel(5);
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// set rc channel ranges
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channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_yaw->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_throttle->set_range(1000);
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channel_forward->set_angle(ROLL_PITCH_INPUT_MAX);
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channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX);
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// set default dead zones
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channel_roll->set_default_dead_zone(30);
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channel_pitch->set_default_dead_zone(30);
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channel_throttle->set_default_dead_zone(30);
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channel_yaw->set_default_dead_zone(40);
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channel_forward->set_default_dead_zone(30);
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channel_lateral->set_default_dead_zone(30);
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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
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// initialize rc input to 1500 on control channels (rather than 0)
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for (int i = 0; i < 6; i++) {
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RC_Channels::set_override(i, 1500);
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}
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RC_Channels::set_override(6, 1500); // camera pan channel
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RC_Channels::set_override(7, 1500); // camera tilt channel
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RC_Channel* chan = RC_Channels::rc_channel(8);
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uint16_t min = chan->get_radio_min();
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RC_Channels::set_override(8, min); // lights 1 channel
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chan = RC_Channels::rc_channel(9);
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min = chan->get_radio_min();
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RC_Channels::set_override(9, min); // lights 2 channel
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RC_Channels::set_override(10, 1100); // video switch
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#endif
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}
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// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
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void Sub::init_rc_out()
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{
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motors.set_update_rate(g.rc_speed);
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motors.set_loop_rate(scheduler.get_loop_rate_hz());
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motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), AP_Motors::motor_frame_type::MOTOR_FRAME_TYPE_PLUS);
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motors.convert_pwm_min_max_param(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
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motors.update_throttle_range();
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// enable output to motors
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if (arming.rc_calibration_checks(true)) {
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enable_motor_output();
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}
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// refresh auxiliary channel to function map
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SRV_Channels::update_aux_servo_function();
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}
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