mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.1 KiB
Plaintext
47 lines
1.1 KiB
Plaintext
/*
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Example of APM_RC library.
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Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
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Print Input values and send Output to the servos
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(Works with last PPM_encoder firmware)
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*/
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#include <Arduino_Mega_ISR_Registry.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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Arduino_Mega_ISR_Registry isr_registry;
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APM_RC_APM2 APM_RC;
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void setup()
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{
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isr_registry.init();
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APM_RC.Init(&isr_registry); // APM Radio initialization
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APM_RC.enable_out(CH_1);
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APM_RC.enable_out(CH_2);
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APM_RC.enable_out(CH_3);
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APM_RC.enable_out(CH_4);
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APM_RC.enable_out(CH_5);
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APM_RC.enable_out(CH_6);
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APM_RC.enable_out(CH_7);
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APM_RC.enable_out(CH_8);
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Serial.begin(115200);
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Serial.println("ArduPilot Mega RC library test");
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delay(1000);
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}
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void loop()
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{
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// New radio frame? (we could use also if((millis()- timer) > 20)
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if (APM_RC.GetState() == 1){
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Serial.print("CH:");
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for(int i = 0; i < 8; i++){
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Serial.print(APM_RC.InputCh(i)); // Print channel values
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Serial.print(",");
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APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos
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}
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Serial.println();
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}
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}
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