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