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Sub: Adjusted forward/strafe channels to not conflict with roll/pitch. Roll and pitch will be hard-coded to zero to stay level.

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Rustom Jehangir 2016-01-10 16:43:08 -08:00 committed by Andrew Tridgell
parent 08a56ee6d2
commit d313f932b4
1 changed files with 9 additions and 6 deletions
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15
ArduSub/radio.cpp
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@ -149,14 +149,17 @@ void Copter::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16
int16_t rpyCenter = 1500; int16_t rpyCenter = 1500;
int16_t throttleBase = 1100; int16_t throttleBase = 1100;
channels[0] = x*rpyScale+rpyCenter; // pitch (forward for ROV) uint16_t mode = buttons;
channels[1] = y*rpyScale+rpyCenter; // roll (strafe for ROV) int16_t camTilt = 1500;
channels[0] = 1500; // pitch
channels[1] = 1500; // roll
channels[2] = z*throttleScale+throttleBase; // throttle channels[2] = z*throttleScale+throttleBase; // throttle
channels[3] = r*rpyScale+rpyCenter; // yaw channels[3] = r*rpyScale+rpyCenter; // yaw
channels[4] = buttons; // for testing only channels[4] = mode; // for testing only
channels[5] = 1100; channels[5] = x*rpyScale+rpyCenter; // forward for ROV
channels[6] = 1100; channels[6] = y*rpyScale+rpyCenter; // strafe for ROV
channels[7] = 1500; // camera tilt channels[7] = camTilt; // camera tilt
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation // record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
failsafe.rc_override_active = hal.rcin->set_overrides(channels, 8); failsafe.rc_override_active = hal.rcin->set_overrides(channels, 8);