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76 lines
1.7 KiB
76 lines
1.7 KiB
void init_rc_in() |
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{ |
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read_EEPROM_radio(); // read Radio limits |
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rc_1.set_angle(4500); |
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rc_1.dead_zone = 60; // 60 = .6 degrees |
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rc_2.set_angle(4500); |
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rc_2.dead_zone = 60; |
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rc_3.set_range(0,1000); |
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rc_3.dead_zone = 20; |
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rc_3.scale_output = .9; |
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rc_4.set_angle(6000); |
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rc_4.dead_zone = 500; |
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rc_5.set_range(0,1000); |
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rc_5.set_filter(false); |
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// for kP values |
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//rc_6.set_range(200,800); |
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rc_6.set_range(0,4000); |
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// for camera angles |
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//rc_6.set_angle(4500); |
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//rc_6.dead_zone = 60; |
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rc_7.set_range(0,1000); |
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rc_8.set_range(0,1000); |
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} |
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void init_rc_out() |
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{ |
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#if ARM_AT_STARTUP == 1 |
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motor_armed = 1; |
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#endif |
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs |
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APM_RC.OutputCh(CH_2, rc_3.radio_min); |
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APM_RC.OutputCh(CH_3, rc_3.radio_min); |
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APM_RC.OutputCh(CH_4, rc_3.radio_min); |
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APM_RC.Init(); // APM Radio initialization |
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APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs |
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APM_RC.OutputCh(CH_2, rc_3.radio_min); |
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APM_RC.OutputCh(CH_3, rc_3.radio_min); |
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APM_RC.OutputCh(CH_4, rc_3.radio_min); |
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} |
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void read_radio() |
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{ |
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rc_1.set_pwm(APM_RC.InputCh(CH_1)); |
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rc_2.set_pwm(APM_RC.InputCh(CH_2)); |
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rc_3.set_pwm(APM_RC.InputCh(CH_3)); |
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rc_4.set_pwm(APM_RC.InputCh(CH_4)); |
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rc_5.set_pwm(APM_RC.InputCh(CH_5)); |
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rc_6.set_pwm(APM_RC.InputCh(CH_6)); |
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rc_7.set_pwm(APM_RC.InputCh(CH_7)); |
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rc_8.set_pwm(APM_RC.InputCh(CH_8)); |
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//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in); |
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} |
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void trim_radio() |
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{ |
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for (byte i = 0; i < 30; i++){ |
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read_radio(); |
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} |
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rc_1.trim(); // roll |
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rc_2.trim(); // pitch |
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rc_4.trim(); // yaw |
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} |
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void trim_yaw() |
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{ |
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for (byte i = 0; i < 30; i++){ |
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read_radio(); |
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} |
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rc_4.trim(); // yaw |
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}
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