mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.1 KiB
Plaintext
91 lines
2.1 KiB
Plaintext
void init_rc_in()
|
|
{
|
|
read_EEPROM_radio(); // read Radio limits
|
|
g.rc_1.set_angle(4500);
|
|
g.rc_1.dead_zone = 60; // 60 = .6 degrees
|
|
g.rc_2.set_angle(4500);
|
|
g.rc_2.dead_zone = 60;
|
|
g.rc_3.set_range(0,1000);
|
|
g.rc_3.dead_zone = 20;
|
|
g.rc_3.scale_output = .9;
|
|
g.rc_4.set_angle(6000);
|
|
g.rc_4.dead_zone = 500;
|
|
g.rc_5.set_range(0,1000);
|
|
g.rc_5.set_filter(false);
|
|
|
|
// for kP values
|
|
//g.rc_6.set_range(200,800);
|
|
//g.rc_6.set_range(0,1800); // for faking GPS
|
|
g.rc_6.set_range(0,1000);
|
|
|
|
// for camera angles
|
|
//g.rc_6.set_angle(4500);
|
|
//g.rc_6.dead_zone = 60;
|
|
|
|
g.rc_7.set_range(0,1000);
|
|
g.rc_8.set_range(0,1000);
|
|
}
|
|
|
|
void init_rc_out()
|
|
{
|
|
#if ARM_AT_STARTUP == 1
|
|
motor_armed = 1;
|
|
#endif
|
|
|
|
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); // Initialization of servo outputs
|
|
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
|
|
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
|
|
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
|
|
|
|
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
|
|
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
|
|
|
|
APM_RC.Init(); // APM Radio initialization
|
|
|
|
APM_RC.OutputCh(CH_1, g.rc_3.radio_min); // Initialization of servo outputs
|
|
APM_RC.OutputCh(CH_2, g.rc_3.radio_min);
|
|
APM_RC.OutputCh(CH_3, g.rc_3.radio_min);
|
|
APM_RC.OutputCh(CH_4, g.rc_3.radio_min);
|
|
|
|
|
|
APM_RC.OutputCh(CH_7, g.rc_3.radio_min);
|
|
APM_RC.OutputCh(CH_8, g.rc_3.radio_min);
|
|
|
|
}
|
|
|
|
void read_radio()
|
|
{
|
|
g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
|
|
g.rc_2.set_pwm(APM_RC.InputCh(CH_2));
|
|
g.rc_3.set_pwm(APM_RC.InputCh(CH_3));
|
|
g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
|
|
g.rc_5.set_pwm(APM_RC.InputCh(CH_5));
|
|
g.rc_6.set_pwm(APM_RC.InputCh(CH_6));
|
|
g.rc_7.set_pwm(APM_RC.InputCh(CH_7));
|
|
g.rc_8.set_pwm(APM_RC.InputCh(CH_8));
|
|
//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), g.rc_1.control_in, g.rc_2.control_in, g.rc_3.control_in, g.rc_4.control_in);
|
|
}
|
|
|
|
void trim_radio()
|
|
{
|
|
for (byte i = 0; i < 30; i++){
|
|
read_radio();
|
|
}
|
|
|
|
g.rc_1.trim(); // roll
|
|
g.rc_2.trim(); // pitch
|
|
g.rc_4.trim(); // yaw
|
|
|
|
g.rc_1.save_trim();
|
|
g.rc_2.save_trim();
|
|
g.rc_4.save_trim();
|
|
}
|
|
|
|
void trim_yaw()
|
|
{
|
|
for (byte i = 0; i < 30; i++){
|
|
read_radio();
|
|
}
|
|
g.rc_4.trim(); // yaw
|
|
}
|