mirror of https://github.com/ArduPilot/ardupilot
77 lines
1.7 KiB
Plaintext
77 lines
1.7 KiB
Plaintext
void init_rc_in()
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{
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read_EEPROM_radio(); // read Radio limits
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rc_1.set_angle(4500);
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rc_1.dead_zone = 60; // 60 = .6 degrees
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rc_2.set_angle(4500);
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rc_2.dead_zone = 60;
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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.scale_output = .9;
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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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// for kP values
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//rc_6.set_range(200,800);
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rc_6.set_range(0,4000);
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// for camera angles
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//rc_6.set_angle(4500);
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//rc_6.dead_zone = 60;
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rc_7.set_range(0,1000);
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rc_8.set_range(0,1000);
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}
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void init_rc_out()
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{
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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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for (byte i = 0; i < 30; i++){
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read_radio();
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}
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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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void trim_yaw()
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{
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for (byte i = 0; i < 30; i++){
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read_radio();
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}
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rc_4.trim(); // yaw
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}
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