mirror of https://github.com/ArduPilot/ardupilot
40 lines
766 B
C++
40 lines
766 B
C++
/*
|
|
simple test of RC output interface
|
|
*/
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
void setup();
|
|
void loop();
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
|
|
|
|
void setup (void)
|
|
{
|
|
hal.console->printf("Starting AP_HAL::RCOutput test\n");
|
|
for (uint8_t i = 0; i< 14; i++) {
|
|
hal.rcout->enable_ch(i);
|
|
}
|
|
}
|
|
|
|
static uint16_t pwm = 1500;
|
|
static int8_t delta = 1;
|
|
|
|
void loop (void)
|
|
{
|
|
for (uint8_t i=0; i < 14; i++) {
|
|
hal.rcout->write(i, pwm);
|
|
pwm += delta;
|
|
if (delta > 0 && pwm >= 2000) {
|
|
delta = -1;
|
|
hal.console->printf("reversing\n");
|
|
} else if (delta < 0 && pwm <= 1000) {
|
|
delta = 1;
|
|
hal.console->printf("reversing\n");
|
|
}
|
|
}
|
|
hal.scheduler->delay(5);
|
|
}
|
|
|
|
AP_HAL_MAIN();
|