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Copter: disable some aux channels on hexa and octas

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Resolves issue #324
This commit is contained in:
Randy Mackay 2013-10-31 15:22:34 +09:00
parent 2240bb80d1
commit 1a8feee298
2 changed files with 54 additions and 12 deletions
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8
ArduCopter/ArduCopter.pde
View File

@ -1215,12 +1215,8 @@ static void one_hz_loop()
motors.set_frame_orientation(g.frame_orientation); motors.set_frame_orientation(g.frame_orientation);
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 // update assigned functions and enable auxiliar servos
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12); aux_servos_update_fn();
#elif MOUNT == ENABLED
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
enable_aux_servos(); enable_aux_servos();
#if MOUNT == ENABLED #if MOUNT == ENABLED

58
ArduCopter/radio.pde
View File

@ -34,17 +34,14 @@ static void init_rc_in()
g.rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); g.rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
g.rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW); g.rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
//set auxiliary ranges //set auxiliary servo ranges
g.rc_5.set_range(0,1000); g.rc_5.set_range(0,1000);
g.rc_6.set_range(0,1000); g.rc_6.set_range(0,1000);
g.rc_7.set_range(0,1000); g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000); g.rc_8.set_range(0,1000);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 // update assigned functions for auxiliary servos
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12); aux_servos_update_fn();
#elif MOUNT == ENABLED
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
// set default dead zones // set default dead zones
default_dead_zones(); default_dead_zones();
@ -188,6 +185,55 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
} }
} }
// aux_servos_update - update auxiliary servos assigned functions in case the user has changed them
void aux_servos_update_fn()
{
// Quads can use RC5 and higher as auxiliary channels
#if (FRAME_CONFIG == QUAD_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else // APM1, APM2, SITL
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
// Tri's can use RC5, RC6, RC8 and higher
#elif (FRAME_CONFIG == TRI_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else // APM1, APM2, SITL
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
// Hexa and Y6 can use RC7 and higher
#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else
update_aux_servo_function(&g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
// Octa and X8 can use RC9 and higher
#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else
update_aux_servo_function(&g.rc_10, &g.rc_11);
#endif
// Heli's can use RC5, RC6, RC7, not RC8, and higher
#elif (FRAME_CONFIG == HELI_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else // APM1, APM2, SITL
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_10, &g.rc_11);
#endif
// throw compile error if frame type is unrecognise
#else
#error Unrecognised frame type
#endif
}
static void trim_radio() static void trim_radio()
{ {
for (uint8_t i = 0; i < 30; i++) { for (uint8_t i = 0; i < 30; i++) {