mirror of https://github.com/ArduPilot/ardupilot
46 lines
818 B
Plaintext
46 lines
818 B
Plaintext
/*
|
|
Example of AP_RC library.
|
|
Code by Jason Short. DIYDrones.com
|
|
*/
|
|
|
|
#include <AP_RC.h> // ArduPilot RC Library
|
|
AP_RC rc;
|
|
|
|
#define CH_ROLL 0
|
|
#define CH_PITCH 1
|
|
#define CH_THROTTLE 2
|
|
#define CH_RUDDER 3
|
|
|
|
int radio_in[4];
|
|
|
|
void setup()
|
|
{
|
|
Serial.begin(38400);
|
|
Serial.println("ArduPilot RC library test");
|
|
rc.init();
|
|
delay(1000);
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
delay(20);
|
|
for(int y = 0; y < 4; y++) {
|
|
radio_in[y] = rc.input_ch(y);
|
|
}
|
|
for(int y = 0; y < 4; y++) {
|
|
rc.output_ch_pwm(y, radio_in[y]); // send to Servos
|
|
}
|
|
print_pwm();
|
|
}
|
|
|
|
void print_pwm()
|
|
{
|
|
Serial.print("ch1 ");
|
|
Serial.print(radio_in[CH_ROLL], DEC);
|
|
Serial.print("\tch2: ");
|
|
Serial.print(radio_in[CH_PITCH], DEC);
|
|
Serial.print("\tch3 :");
|
|
Serial.print(radio_in[CH_THROTTLE], DEC);
|
|
Serial.print("\tch4 :");
|
|
Serial.println(radio_in[CH_RUDDER], DEC);
|
|
} |