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45 lines
1.0 KiB
45 lines
1.0 KiB
/* |
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Example of APM_RC library. |
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Code by Jordi MuÒoz and Jose Julio. DIYDrones.com |
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Print Input values and send Output to the servos |
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(Works with last PPM_encoder firmware) |
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*/ |
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#include <Arduino_Mega_ISR_Registry.h> |
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#include <APM_RC.h> // ArduPilot Mega RC Library |
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Arduino_Mega_ISR_Registry isr_registry; |
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APM_RC_APM1 APM_RC; |
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void setup() |
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{ |
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isr_registry.init(); |
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APM_RC.Init(&isr_registry); // APM Radio initialization |
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APM_RC.enable_out(CH_1); |
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APM_RC.enable_out(CH_2); |
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APM_RC.enable_out(CH_3); |
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APM_RC.enable_out(CH_4); |
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APM_RC.enable_out(CH_5); |
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APM_RC.enable_out(CH_6); |
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APM_RC.enable_out(CH_7); |
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APM_RC.enable_out(CH_8); |
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Serial.begin(115200); |
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Serial.println("ArduPilot Mega RC library test"); |
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delay(1000); |
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} |
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void loop() |
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{ |
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// New radio frame? (we could use also if((millis()- timer) > 20) |
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if (APM_RC.GetState() == 1){ |
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Serial.print("CH:"); |
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for(int i = 0; i < 8; i++){ |
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Serial.print(APM_RC.InputCh(i)); // Print channel values |
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Serial.print(","); |
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APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos |
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} |
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Serial.println(); |
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} |
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}
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