mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.5 KiB
Plaintext
69 lines
1.5 KiB
Plaintext
/*
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simple test of RC output interface
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*/
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_Empty.h>
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#include <AP_Common.h>
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#include <AP_Baro.h>
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#include <AP_ADC.h>
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#include <AP_GPS.h>
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#include <AP_InertialSensor.h>
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#include <AP_Notify.h>
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#include <DataFlash.h>
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#include <GCS_MAVLink.h>
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#include <AP_Mission.h>
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#include <StorageManager.h>
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#include <AP_Terrain.h>
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#include <AP_Compass.h>
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#include <AP_Declination.h>
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#include <SITL.h>
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#include <Filter.h>
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#include <AP_Param.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h>
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#include <AP_AHRS.h>
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#include <AP_Airspeed.h>
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#include <AP_Vehicle.h>
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#include <AP_ADC_AnalogSource.h>
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#include <AP_NavEKF.h>
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#include <AP_Rally.h>
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#include <AP_Scheduler.h>
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#include <UARTDriver.h>
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#include <AP_BattMonitor.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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void setup (void)
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{
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hal.console->println("Starting AP_HAL::RCOutput test");
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for (uint8_t i=0; i<14; i++) {
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hal.rcout->enable_ch(i);
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}
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}
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static uint16_t pwm = 1500;
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static int8_t delta = 1;
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void loop (void)
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{
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uint8_t i;
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for (i=0; i<14; i++) {
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hal.rcout->write(i, pwm);
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pwm += delta;
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if (delta > 0 && pwm >= 2000) {
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delta = -1;
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hal.console->printf("reversing\n");
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} else if (delta < 0 && pwm <= 1000) {
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delta = 1;
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hal.console->printf("reversing\n");
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}
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}
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hal.scheduler->delay(5);
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}
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AP_HAL_MAIN();
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