From 8e36c1cd60c81dc0fe745138ed03facd39c9e5aa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 2 Dec 2014 15:03:59 +1100
Subject: [PATCH] AP_HAL: fixed RCOutput example

---
 .../AP_HAL/examples/RCOutput/RCOutput.pde     | 61 +++++++++++++------
 1 file changed, 44 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_HAL/examples/RCOutput/RCOutput.pde b/libraries/AP_HAL/examples/RCOutput/RCOutput.pde
index 0f041d5766..2b26f780f7 100644
--- a/libraries/AP_HAL/examples/RCOutput/RCOutput.pde
+++ b/libraries/AP_HAL/examples/RCOutput/RCOutput.pde
@@ -1,39 +1,66 @@
-
-#include <AP_Common.h>
-#include <AP_Math.h>
-#include <AP_Param.h>
-#include <StorageManager.h>
-#include <AP_Progmem.h>
-
+/*
+  simple test of RC output interface
+ */
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
 #include <AP_HAL_PX4.h>
 #include <AP_HAL_Empty.h>
+#include <AP_Common.h>
+#include <AP_Baro.h>
+#include <AP_ADC.h>
+#include <AP_GPS.h>
+#include <AP_InertialSensor.h>
+#include <AP_Notify.h>
+#include <DataFlash.h>
+#include <GCS_MAVLink.h>
+#include <AP_Mission.h>
+#include <StorageManager.h>
+#include <AP_Terrain.h>
+#include <AP_Compass.h>
+#include <AP_Declination.h>
+#include <SITL.h>
+#include <Filter.h>
+#include <AP_Param.h>
+#include <AP_Progmem.h>
+#include <AP_Math.h>
+#include <AP_AHRS.h>
+#include <AP_Airspeed.h>
+#include <AP_Vehicle.h>
+#include <AP_ADC_AnalogSource.h>
+#include <AP_NavEKF.h>
+#include <AP_Rally.h>
+#include <AP_Scheduler.h>
+#include <UARTDriver.h>
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 void setup (void) 
 {
-    hal.console->printf_P(PSTR("Starting AP_HAL::RCOutput test\r\n"));
-    uint8_t i;
-
-    hal.console->printf_P(PSTR("Testing 14 channels 1050+i*50\n"));
-    for (i=0; i<14; i++) {
+    hal.console->println("Starting AP_HAL::RCOutput test");
+    for (uint8_t i=0; i<14; i++) {
         hal.rcout->enable_ch(i);
-        hal.rcout->write(i, 1050 + i*50);
     }
-    hal.rcout->set_freq(0xFF, 490);
 }
 
+static uint16_t pwm = 1500;
+static int8_t delta = 1;
+
 void loop (void) 
 {
     uint8_t i;
     for (i=0; i<14; i++) {
-        hal.rcout->enable_ch(i);
-        hal.rcout->write(i, 1050 + i*50);
+        hal.rcout->write(i, pwm);
+        pwm += delta;
+        if (delta > 0 && pwm >= 2000) {
+            delta = -1;
+            hal.console->printf("reversing\n");
+        } else if (delta < 0 && pwm <= 1000) {
+            delta = 1;
+            hal.console->printf("reversing\n");
+        }
     }
-    hal.scheduler->delay(10);
+    hal.scheduler->delay(5);
 }
 
 AP_HAL_MAIN();