mirror of https://github.com/ArduPilot/ardupilot
126 lines
2.6 KiB
Plaintext
126 lines
2.6 KiB
Plaintext
/*
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Example of RC_Channel library.
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Code by James Goppert/ Jason Short. 2010
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DIYDrones.com
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*/
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <APO.h>
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#include <AP_RcChannel.h> // ArduPilot Mega RC Library
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#include <APM_RC.h>
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#include <AP_Vector.h>
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FastSerialPort0(Serial)
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; // make sure this proceeds variable declarations
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// test settings
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using namespace apo;
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class RadioTest {
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private:
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float testPosition;
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int8_t testSign;
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enum {
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version,
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rollKey,
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pitchKey,
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thrKey,
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yawKey,
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ch5Key,
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ch6Key,
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ch7Key,
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ch8Key
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};
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Vector<AP_RcChannel *> ch;
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public:
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RadioTest() :
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testPosition(2), testSign(1) {
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ch.push_back(
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new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
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1900));
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ch.push_back(
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new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
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1500, 1900));
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ch.push_back(
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new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
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1900));
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ch.push_back(
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new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
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1900));
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ch.push_back(
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new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
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1900));
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ch.push_back(
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new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
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1900));
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ch.push_back(
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new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
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1900));
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ch.push_back(
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new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
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1900));
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Serial.begin(115200);
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delay(2000);
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Serial.println("ArduPilot RC Channel test");
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APM_RC.Init(); // APM Radio initialization
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delay(2000);
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}
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void update() {
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// update test value
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testPosition += testSign * .1;
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if (testPosition > 1) {
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//eepromRegistry.print(Serial); // show eeprom map
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testPosition = 1;
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testSign = -1;
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} else if (testPosition < -1) {
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testPosition = -1;
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testSign = 1;
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}
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// set channel positions
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for (uint8_t i = 0; i < ch.getSize(); i++)
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ch[i]->setPosition(testPosition);
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// print test position
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Serial.printf("\nnormalized position (%f)\n", testPosition);
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// print channel names
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Serial.print("\t\t");
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static char name[7];
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for (uint8_t i = 0; i < ch.getSize(); i++) {
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ch[i]->copy_name(name, 7);
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Serial.printf("%7s\t", name);
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}
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Serial.println();
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// print pwm
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Serial.printf("pwm :\t");
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for (uint8_t i = 0; i < ch.getSize(); i++)
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Serial.printf("%7d\t", ch[i]->getRadioPwm());
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Serial.println();
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// print position
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Serial.printf("position :\t");
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for (uint8_t i = 0; i < ch.getSize(); i++)
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Serial.printf("%7.2f\t", ch[i]->getRadioPosition());
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Serial.println();
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delay(500);
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}
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};
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RadioTest * test;
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void setup() {
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test = new RadioTest;
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}
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void loop() {
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test->update();
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}
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// vim:ts=4:sw=4:expandtab
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