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Copter: disable aux channel 7 for SingleCopter

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Move servo range setup to AP_MotorsSingle
This commit is contained in:
Randy Mackay 2014-02-07 22:03:22 +09:00
parent 9b594dc5e1
commit 7c25247c87
2 changed files with 17 additions and 5 deletions
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20
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -95,11 +95,21 @@ void AP_MotorsSingle::Init()
// set update rate for the 3 motors (but not the servo on channel 7)
set_update_rate(_speed_hz);
// set the motor_enabled flag so that the ESCs can be calibrated like other frame types
motor_enabled[AP_MOTORS_MOT_1] = true;
motor_enabled[AP_MOTORS_MOT_2] = true;
motor_enabled[AP_MOTORS_MOT_3] = true;
motor_enabled[AP_MOTORS_MOT_4] = true;
// set the motor_enabled flag so that the main ESC can be calibrated like other frame types
motor_enabled[AP_MOTORS_MOT_7] = true;
// we set four servos to angle
_servo1->set_type(RC_CHANNEL_TYPE_ANGLE);
_servo2->set_type(RC_CHANNEL_TYPE_ANGLE);
_servo3->set_type(RC_CHANNEL_TYPE_ANGLE);
_servo4->set_type(RC_CHANNEL_TYPE_ANGLE);
_servo1->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo2->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo3->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
_servo4->set_angle(AP_MOTORS_SINGLE_SERVO_INPUT_RANGE);
// disable CH7 from being used as an aux output (i.e. for camera gimbal, etc)
RC_Channel_aux::disable_aux_channel(CH_7);
}
// set update rate to motors - a value in hertz

2
libraries/AP_Motors/AP_MotorsSingle.h
View File

@ -18,6 +18,8 @@
#define AP_MOTORS_SINGLE_SPEED_DIGITAL_SERVOS 250 // update rate for digital servos
#define AP_MOTORS_SINGLE_SPEED_ANALOG_SERVOS 125 // update rate for analog servos
#define AP_MOTORS_SINGLE_SERVO_INPUT_RANGE 4500 // roll or pitch input of -4500 will cause servos to their minimum (i.e. radio_min), +4500 will move them to their maximum (i.e. radio_max)
/// @class AP_MotorsSingle
class AP_MotorsSingle : public AP_Motors {
public: