Rover: support k_steering channel

2014-03-05 12:13:35 +11:00 · 2014-03-05 12:13:35 +11:00 · 7104bdf855
commit 7104bdf855
parent 2cf98e476c
1 changed files with 3 additions and 0 deletions
--- a/APMrover2/Steering.pde
+++ b/APMrover2/Steering.pde
@ -186,6 +186,9 @@ static void set_servos(void)
 {
    int16_t last_throttle = channel_throttle->radio_out;

+    // support a separate steering channel
+    RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, channel_steer->pwm_to_angle_dz(0));
+
 	if ((control_mode == MANUAL || control_mode == LEARNING) &&
        (g.skid_steer_out == g.skid_steer_in)) {
        // do a direct pass through of radio values