mirror of https://github.com/ArduPilot/ardupilot
83 lines
1.9 KiB
Plaintext
83 lines
1.9 KiB
Plaintext
void init_radio()
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{
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rc_1.set_angle(4500);
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rc_1.dead_zone = 50;
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rc_2.set_angle(4500);
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rc_2.dead_zone = 50;
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rc_3.set_range(0,1000);
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rc_3.dead_zone = 20;
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rc_3.radio_max += 300; // hack for better throttle control
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rc_4.set_angle(6000);
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rc_4.dead_zone = 500;
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rc_5.set_range(0,1000);
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rc_5.set_filter(false);
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rc_6.set_range(50,200);
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rc_7.set_range(0,1000);
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rc_8.set_range(0,1000);
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#if ARM_AT_STARTUP == 1
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motor_armed = 1;
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#endif
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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APM_RC.Init(); // APM Radio initialization
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs
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APM_RC.OutputCh(CH_2, rc_3.radio_min);
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APM_RC.OutputCh(CH_3, rc_3.radio_min);
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APM_RC.OutputCh(CH_4, rc_3.radio_min);
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}
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void read_radio()
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{
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rc_1.set_pwm(APM_RC.InputCh(CH_1));
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rc_2.set_pwm(APM_RC.InputCh(CH_2));
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rc_3.set_pwm(APM_RC.InputCh(CH_3));
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rc_4.set_pwm(APM_RC.InputCh(CH_4));
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rc_5.set_pwm(APM_RC.InputCh(CH_5));
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rc_6.set_pwm(APM_RC.InputCh(CH_6));
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rc_7.set_pwm(APM_RC.InputCh(CH_7));
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rc_8.set_pwm(APM_RC.InputCh(CH_8));
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//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in);
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}
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void trim_radio()
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{
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read_radio();
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rc_1.trim(); // roll
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rc_2.trim(); // pitch
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rc_4.trim(); // yaw
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}
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#define ARM_DELAY 10
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#define DISARM_DELAY 10
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void arm_motors()
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{
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static byte arming_counter;
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// Arm motor output : Throttle down and full yaw right for more than 2 seconds
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if (rc_3.control_in == 0){
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if (rc_4.control_in > 2700) {
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if (arming_counter > ARM_DELAY) {
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motor_armed = true;
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} else{
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arming_counter++;
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}
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}else if (rc_4.control_in < -2700) {
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if (arming_counter > DISARM_DELAY){
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motor_armed = false;
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}else{
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arming_counter++;
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}
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}else{
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arming_counter = 0;
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}
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}
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}
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