ardupilot/AntennaTracker/control_servo_test.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* control_servo_test.pde - GCS controlled servo test mode
*/
/*
* update_servo_test - runs the servo test controller
* called at 50hz while control_mode is 'SERVO_TEST' mode
* tracker switches into this mode if it ever receives a do-set-servo command from the GCS
*/
static void update_servo_test(void)
{
// do nothing
}
/*
* servo_test_set_servo - sets the yaw or pitch servo pwm directly
* servo_num are 1 for yaw, 2 for pitch
*/
static bool 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.radio_out = constrain_int16(pwm, channel_yaw.radio_min, channel_yaw.radio_max);
channel_yaw.output();
}
// set pitch servo pwm and send output to servo
if (servo_num == CH_PITCH) {
channel_pitch.radio_out = constrain_int16(pwm, channel_pitch.radio_min, channel_pitch.radio_max);
channel_pitch.output();
}
// return success
return true;
}