aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

ArduPPM: Set Ch1-4 to their fail-safe position and leave Ch5-8 at their last value

Browse Source
This commit is contained in:
Julian Oes 2013-02-26 18:45:32 -08:00 committed by rmackay9
parent 8b7c75a700
commit a0b0df0252
1 changed files with 15 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
Tools/ArduPPM/Libraries/PPM_Encoder.h
View File

@ -1,5 +1,5 @@
// -------------------------------------------------------------
// ArduPPM (PPM Encoder) V2.3.16
// ArduPPM (PPM Encoder) V2.3.17pre
// -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2.x (ATmega32u2)
@ -143,6 +143,10 @@
// 26-02-2013
// V2.3.16 - when a channel is lost don't set it to a fail-safe value but retain its last value (except throttle)
// 26-02-2013
// V2.3.17pre - set channel 1,2 and 4 to center, 3 to low and leave 5-8 at last value
// - LED indication is only triggered when throttle is set low
// -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_
@ -184,7 +188,7 @@
#endif
// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
const char ver[15] = "ArduPPMv2.3.16";
const char ver[15] = "ArduPPMv2.3.17pre";
// -------------------------------------------------------------
// INPUT MODE
@ -797,12 +801,19 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
if( ppm_timeout[ ppm_out_channel ] > PPM_TIMEOUT_VALUE )
{
// Use the ppm fail-safe value for throttle
if (ppm_out_channel == 5)
if( ppm_out_channel == 5 )
{
cli();
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
// report this to the LED indication
sei();
// report this to the LED indication
servo_input_missing = true;
}
// also use the fail-safe value for roll, pitch and yaw (but don't notify LED)
else if( ppm_out_channel == 1 || ppm_out_channel == 3 || ppm_out_channel == 7 )
{
cli();
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
sei();
}
else