aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

ArduCopter: fixes to radio.pde

Browse Source
This commit is contained in:
Pat Hickey 2012-12-12 17:37:32 -08:00 committed by Andrew Tridgell
parent 7af03127f6
commit 13c044ab3e
1 changed files with 17 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
ArduCopter/radio.pde
View File

@ -3,7 +3,7 @@
// Function that will read the radio data, limit servos and trigger a failsafe
// ----------------------------------------------------------------------------
extern RC_Channel* rc_ch[NUM_CHANNELS];
extern RC_Channel* rc_ch[8];
static void default_dead_zones()
{
@ -60,8 +60,6 @@ static void init_rc_in()
static void init_rc_out()
{
APM_RC.Init( &isr_registry ); // APM Radio initialization
motors.set_update_rate(g.rc_speed);
motors.set_frame_orientation(g.frame_orientation);
motors.Init(); // motor initialisation
@ -128,26 +126,32 @@ void output_min()
#define RADIO_FS_TIMEOUT_MS 2000 // 2 seconds
static void read_radio()
{
if (APM_RC.GetState() == 1) {
static uint32_t last_update = 0;
if (hal.rcin->valid() > 0) {
last_update = millis();
ap_system.new_radio_frame = true;
g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
g.rc_2.set_pwm(APM_RC.InputCh(CH_2));
uint16_t periods[8];
hal.rcin->read(periods,8);
g.rc_1.set_pwm(periods[0]);
g.rc_2.set_pwm(periods[1]);
set_throttle_and_failsafe(APM_RC.InputCh(CH_3));
set_throttle_and_failsafe(periods[2]);
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));
g.rc_4.set_pwm(periods[3]);
g.rc_5.set_pwm(periods[4]);
g.rc_6.set_pwm(periods[5]);
g.rc_7.set_pwm(periods[6]);
g.rc_8.set_pwm(periods[7]);
#if FRAME_CONFIG != HELI_FRAME
// limit our input to 800 so we can still pitch and roll
g.rc_3.control_in = min(g.rc_3.control_in, MAXIMUM_THROTTLE);
#endif
}else{
uint32_t elapsed = millis() - last_update;
// turn on throttle failsafe if no update from ppm encoder for 2 seconds
if ((millis() - APM_RC.get_last_update() >= RADIO_FS_TIMEOUT_MS) && g.failsafe_throttle && motors.armed() && !ap.failsafe) {
if ((elapsed >= RADIO_FS_TIMEOUT_MS)
&& g.failsafe_throttle && motors.armed() && !ap.failsafe) {
set_failsafe(true);
}
}