aepko/Ardupilot2
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almost ready for use, still testing

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@905 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-11-23 21:20:29 +00:00
parent 4fa2491adf
commit 2dd479ea62
3 changed files with 9 additions and 4 deletions
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7
libraries/RC_Channel/RC_Channel.cpp
View File

@ -27,7 +27,7 @@ RC_Channel::set_radio_range(int r_min, int r_max)
// setup the control preferences
void
RC_Channel::set_range(int high, int low)
RC_Channel::set_range(int low, int high)
{
_type = RANGE;
_high = high;
@ -51,13 +51,16 @@ RC_Channel::set_trim(int pwm)
// read input from APM_RC - create a control_in value
void
RC_Channel::set_pwm(int pwm)
{
{
//Serial.print(pwm,DEC);
if(_radio_in == 0)
_radio_in = pwm;
else
_radio_in = ((pwm + _radio_in) >> 1); // Small filtering
if(_type == RANGE){
//Serial.print("range ");
control_in = pwm_to_range();
}else{
control_in = pwm_to_angle();

2
libraries/RC_Channel/RC_Channel.h
View File

@ -21,7 +21,7 @@ class RC_Channel
void set_radio_range(int r_min, int r_max);
// setup the control preferences
void set_range(int high, int low);
void set_range(int low, int high);
void set_angle(int angle);
// call after first read

4
libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
View File

@ -22,6 +22,7 @@ void setup()
{
Serial.begin(38400);
Serial.println("ArduPilot RC Channel test");
APM_RC.Init(); // APM Radio initialization
delay(1000);
// setup radio
@ -53,6 +54,7 @@ void loop()
rc_2.set_pwm(APM_RC.InputCh(CH_2));
rc_3.set_pwm(APM_RC.InputCh(CH_3));
rc_4.set_pwm(APM_RC.InputCh(CH_4));
print_pwm();
}
@ -65,5 +67,5 @@ void print_pwm()
Serial.print("\tch3 :");
Serial.print(rc_3.control_in, DEC);
Serial.print("\tch4 :");
Serial.print(rc_4.control_in, DEC);
Serial.println(rc_4.control_in, DEC);
}