You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
85 lines
2.0 KiB
85 lines
2.0 KiB
void init_radio() |
|
{ |
|
rc_1.set_angle(4500); |
|
rc_1.dead_zone = 50; |
|
rc_2.set_angle(4500); |
|
rc_2.dead_zone = 50; |
|
rc_3.set_range(0,1000); |
|
rc_3.dead_zone = 20; |
|
//rc_3.radio_max += 300; // hack for better throttle control |
|
rc_3.scale_output = .8; |
|
rc_4.set_angle(6000); |
|
rc_4.dead_zone = 500; |
|
rc_5.set_range(0,1000); |
|
rc_5.set_filter(false); |
|
rc_6.set_range(200,800); |
|
rc_7.set_range(0,1000); |
|
rc_8.set_range(0,1000); |
|
|
|
#if ARM_AT_STARTUP == 1 |
|
motor_armed = 1; |
|
#endif |
|
|
|
APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs |
|
APM_RC.OutputCh(CH_2, rc_3.radio_min); |
|
APM_RC.OutputCh(CH_3, rc_3.radio_min); |
|
APM_RC.OutputCh(CH_4, rc_3.radio_min); |
|
|
|
APM_RC.Init(); // APM Radio initialization |
|
|
|
APM_RC.OutputCh(CH_1, rc_3.radio_min); // Initialization of servo outputs |
|
APM_RC.OutputCh(CH_2, rc_3.radio_min); |
|
APM_RC.OutputCh(CH_3, rc_3.radio_min); |
|
APM_RC.OutputCh(CH_4, rc_3.radio_min); |
|
} |
|
|
|
void read_radio() |
|
{ |
|
rc_1.set_pwm(APM_RC.InputCh(CH_1)); |
|
rc_2.set_pwm(APM_RC.InputCh(CH_2)); |
|
rc_3.set_pwm(APM_RC.InputCh(CH_3)); |
|
rc_4.set_pwm(APM_RC.InputCh(CH_4)); |
|
rc_5.set_pwm(APM_RC.InputCh(CH_5)); |
|
rc_6.set_pwm(APM_RC.InputCh(CH_6)); |
|
rc_7.set_pwm(APM_RC.InputCh(CH_7)); |
|
rc_8.set_pwm(APM_RC.InputCh(CH_8)); |
|
//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); |
|
} |
|
|
|
void trim_radio() |
|
{ |
|
for (byte i = 0; i < 50; i++){ |
|
read_radio(); |
|
} |
|
rc_1.trim(); // roll |
|
rc_2.trim(); // pitch |
|
rc_4.trim(); // yaw |
|
} |
|
|
|
|
|
#define ARM_DELAY 10 |
|
#define DISARM_DELAY 10 |
|
|
|
void arm_motors() |
|
{ |
|
static byte arming_counter; |
|
|
|
// Arm motor output : Throttle down and full yaw right for more than 2 seconds |
|
if (rc_3.control_in == 0){ |
|
if (rc_4.control_in > 2700) { |
|
if (arming_counter > ARM_DELAY) { |
|
motor_armed = true; |
|
} else{ |
|
arming_counter++; |
|
} |
|
}else if (rc_4.control_in < -2700) { |
|
if (arming_counter > DISARM_DELAY){ |
|
motor_armed = false; |
|
}else{ |
|
arming_counter++; |
|
} |
|
}else{ |
|
arming_counter = 0; |
|
} |
|
} |
|
}
|
|
|