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Plane: fixed remaining places where primary channel ordering was assumed

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should now use rcmap for all inputs
This commit is contained in:
Andrew Tridgell 2013-06-03 16:12:41 +10:00
parent c0058bbb03
commit a1f64d606a
4 changed files with 27 additions and 39 deletions
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12
ArduPlane/Attitude.pde
View File

@ -524,8 +524,8 @@ static void set_servos(void)
channel_roll->radio_out = channel_roll->radio_in;
channel_pitch->radio_out = channel_pitch->radio_in;
} else {
channel_roll->radio_out = hal.rcin->read(CH_ROLL);
channel_pitch->radio_out = hal.rcin->read(CH_PITCH);
channel_roll->radio_out = channel_roll->read();
channel_pitch->radio_out = channel_pitch->read();
}
channel_throttle->radio_out = channel_throttle->radio_in;
channel_rudder->radio_out = channel_rudder->radio_in;
@ -700,10 +700,10 @@ static void set_servos(void)
// send values to the PWM timers for output
// ----------------------------------------
hal.rcout->write(CH_1, channel_roll->radio_out); // send to Servos
hal.rcout->write(CH_2, channel_pitch->radio_out); // send to Servos
hal.rcout->write(CH_3, channel_throttle->radio_out); // send to Servos
hal.rcout->write(CH_4, channel_rudder->radio_out); // send to Servos
channel_roll->output();
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();
// Route configurable aux. functions to their respective servos
g.rc_5.output_ch(CH_5);
g.rc_6.output_ch(CH_6);

6
ArduPlane/defines.h
View File

@ -48,12 +48,6 @@
#define GPS_PROTOCOL_MTK19 6
#define GPS_PROTOCOL_AUTO 7
#define CH_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3
#define CH_RUDDER CH_4
#define CH_YAW CH_4
// HIL enumerations. Note that HIL_MODE_ATTITUDE and HIL_MODE_SENSORS
// are now the same thing, and are sensors based. The old define is
// kept to allow old APM_Config.h headers to keep working

16
ArduPlane/failsafe.pde
View File

@ -39,21 +39,21 @@ void failsafe_check(uint32_t tnow)
// pass RC inputs to outputs every 20ms
last_timestamp = tnow;
hal.rcin->clear_overrides();
channel_roll->radio_out = hal.rcin->read(CH_1);
channel_pitch->radio_out = hal.rcin->read(CH_2);
channel_throttle->radio_out = hal.rcin->read(CH_3);
channel_rudder->radio_out = hal.rcin->read(CH_4);
channel_roll->radio_out = channel_roll->read();
channel_pitch->radio_out = channel_pitch->read();
channel_throttle->radio_out = channel_throttle->read();
channel_rudder->radio_out = channel_rudder->read();
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out);
} else if (g.elevon_output != MIXING_DISABLED) {
channel_output_mixer(g.elevon_output, channel_pitch->radio_out, channel_roll->radio_out);
}
if (!demoing_servos) {
servo_write(CH_1, channel_roll->radio_out);
channel_roll->output();
}
servo_write(CH_2, channel_pitch->radio_out);
servo_write(CH_3, channel_throttle->radio_out);
servo_write(CH_4, channel_rudder->radio_out);
channel_pitch->output();
channel_throttle->output();
channel_rudder->output();
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true);

32
ArduPlane/radio.pde
View File

@ -36,22 +36,16 @@ static void init_rc_in()
static void init_rc_out()
{
hal.rcout->enable_ch(CH_1);
hal.rcout->enable_ch(CH_2);
hal.rcout->enable_ch(CH_3);
hal.rcout->enable_ch(CH_4);
channel_roll->enable_out();
channel_pitch->enable_out();
channel_throttle->enable_out();
channel_rudder->enable_out();
enable_aux_servos();
// Initialization of servo outputs
servo_write(CH_1, channel_roll->radio_trim);
servo_write(CH_2, channel_pitch->radio_trim);
servo_write(CH_3, channel_throttle->radio_min);
servo_write(CH_4, channel_rudder->radio_trim);
servo_write(CH_5, g.rc_5.radio_trim);
servo_write(CH_6, g.rc_6.radio_trim);
servo_write(CH_7, g.rc_7.radio_trim);
servo_write(CH_8, g.rc_8.radio_trim);
for (uint8_t i=0; i<8; i++) {
RC_Channel::rc_channel(i)->output_trim();
}
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_PX4
servo_write(CH_9, g.rc_9.radio_trim);
@ -65,8 +59,8 @@ static void init_rc_out()
static void read_radio()
{
elevon.ch1_temp = hal.rcin->read(CH_ROLL);
elevon.ch2_temp = hal.rcin->read(CH_PITCH);
elevon.ch1_temp = channel_roll->read();
elevon.ch2_temp = channel_pitch->read();
uint16_t pwm_roll, pwm_pitch;
if (g.mix_mode == 0) {
@ -82,13 +76,13 @@ static void read_radio()
// want manual pass through when not exceeding attitude limits
channel_roll->set_pwm_no_deadzone(pwm_roll);
channel_pitch->set_pwm_no_deadzone(pwm_pitch);
channel_throttle->set_pwm_no_deadzone(hal.rcin->read(CH_3));
channel_rudder->set_pwm_no_deadzone(hal.rcin->read(CH_4));
channel_throttle->set_pwm_no_deadzone(channel_throttle->read());
channel_rudder->set_pwm_no_deadzone(channel_rudder->read());
} else {
channel_roll->set_pwm(pwm_roll);
channel_pitch->set_pwm(pwm_pitch);
channel_throttle->set_pwm(hal.rcin->read(CH_3));
channel_rudder->set_pwm(hal.rcin->read(CH_4));
channel_throttle->set_pwm(channel_throttle->read());
channel_rudder->set_pwm(channel_rudder->read());
}
g.rc_5.set_pwm(hal.rcin->read(CH_5));