From 2dd479ea62a490f8868d95e13e164efd1c57f718 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Tue, 23 Nov 2010 21:20:29 +0000
Subject: [PATCH] almost ready for use, still testing

git-svn-id: https://arducopter.googlecode.com/svn/trunk@905 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/RC_Channel/RC_Channel.cpp                     | 7 +++++--
 libraries/RC_Channel/RC_Channel.h                       | 2 +-
 libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde | 4 +++-
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 5a5b7805e3..c0be4ca5d8 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -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();
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 87b88f90b8..e930a99a0a 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -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
diff --git a/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde b/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
index 608339f171..4c9819dd0c 100644
--- a/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
+++ b/libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
@@ -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);
 }
\ No newline at end of file