mirror of https://github.com/ArduPilot/ardupilot
77fa51dcec
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- New improved fail-safe detection and handeling for single or multible signal loss and receiver malfuntion
- Improved LED status for APM 2.x
- Improved jitter performance (PPM output using nested interrupts)
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ARDUPPM OPERATIONAL DESCRIPTION
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APM 2.x LED STATUS:
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RX - OFF = No input signal detected
RX - SLOW TOGGLE = Input signal OK
RX - FAST TOGGLE = Invalid input signal(s) detected
RX - ON = Input signal(s) lost during flight and fail-safe activated
TX - OFF = PPM output disabled
TX - FAST TOGGLE = PPM output enabled
TX - SLOW TOGGLE = PPM pass-trough mode
SERVO INPUT (PWM) MODE:
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- PPM output will not be enabled unless a input signal has been detected and verified
- Verified inputs are lost during operaton (lose servo wire or receiver malfunction):
+ The PPM output channel for the lost input will be set to the default fail-safe value
+ PPM throttle output (ch3) will be permanently set to fail-safe (900us)
- Lost channel signal is restored:
+ PPM output for the restored channel will be updated with the valid signal
+ PPM throttle output (ch3) will not be restored, and will continue to output fail-safe (900us)
PPM PASS-THROUGH MODE (signal pin 2&3 shorted):
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- PPM output will not be enabled unless a input signal has been detected
- Active signal on input channel 1 has been detected:
+ Any input level changes will be passed directly to the PPM output (PPM pass-trough)
+ If no input level changes are detected withing 250ms:
+ PPM output is enabled and default fail-safe values for all eight channels transmitted
+ Input level change detected again, PPM fail-safe output is terminated and normal PPM pass-through operation is restored
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| .. | ||
| Board | ||
| Lib | ||
| Arduino-usbserial.c | ||
| Arduino-usbserial.h | ||
| Descriptors.c | ||
| Descriptors.h | ||
| makefile | ||
| ppm_encoder.txt | ||
| readme.txt | ||
readme.txt
To setup the project and upload the Arduino usbserial application firmware to an ATMEGA32U2 using the Arduino USB DFU bootloader: 1. unpack the source into LUFA's Projects directory 2. set ARDUINO_MODEL_PID in the makefile as appropriate 3. do "make clean; make" 4. put the 32U2 into USB DFU mode: 4.a. assert and hold the 32U2's RESET line 4.b. assert and hold the 32U2's HWB line 4.c. release the 32U2's RESET line 4.d. release the 32U2's HWB line 5. confirm that the board enumerates as "ATmega32u2" 6. do "make dfu" (OS X or Linux - dfu-programmer must be installed first) or "make flip" (Windows - Flip must be installed first) Check that the board enumerates as "Arduino Mega 2560". Test by uploading a new Arduino sketch from the Arduino IDE.