mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#include "Tracker.h"
|
|
|
|
/*
|
|
* GCS controlled servo test mode
|
|
*/
|
|
|
|
/*
|
|
* servo_test_set_servo - sets the yaw or pitch servo pwm directly
|
|
* servo_num are 1 for yaw, 2 for pitch
|
|
*/
|
|
bool Tracker::servo_test_set_servo(uint8_t servo_num, uint16_t pwm)
|
|
{
|
|
// convert servo_num from 1~2 to 0~1 range
|
|
servo_num--;
|
|
|
|
// exit immediately if servo_num is invalid
|
|
if (servo_num != CH_YAW && servo_num != CH_PITCH) {
|
|
return false;
|
|
}
|
|
|
|
// ensure we are in servo test mode
|
|
if (control_mode != SERVO_TEST) {
|
|
set_mode(SERVO_TEST);
|
|
}
|
|
|
|
// set yaw servo pwm and send output to servo
|
|
if (servo_num == CH_YAW) {
|
|
channel_yaw.set_radio_out(constrain_int16(pwm, channel_yaw.get_radio_min(), channel_yaw.get_radio_max()));
|
|
channel_yaw.output();
|
|
}
|
|
|
|
// set pitch servo pwm and send output to servo
|
|
if (servo_num == CH_PITCH) {
|
|
channel_pitch.set_radio_out(constrain_int16(pwm, channel_pitch.get_radio_min(), channel_pitch.get_radio_max()));
|
|
channel_pitch.output();
|
|
}
|
|
|
|
// return success
|
|
return true;
|
|
}
|