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84 lines
1.4 KiB
84 lines
1.4 KiB
/* |
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AP_RC.cpp - Radio library for Arduino |
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Code by Jason Short. DIYDrones.com |
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This library is free software; you can redistribute it and / or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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*/ |
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#include "RC.h" |
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/* |
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RC::RC()// : |
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_direction_mask(255) |
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{ |
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} |
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*/ |
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// direction mask: 0 = normal, 1 = reversed servos |
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void |
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RC::set_channel_direction(uint8_t ch, int8_t dir) |
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{ |
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uint8_t bitflip = 1 << ch; |
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if(dir == 1){ |
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_direction_mask |= bitflip; |
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}else{ |
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_direction_mask &= ~bitflip; |
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} |
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} |
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void |
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RC::set_failsafe(uint16_t v) |
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{ |
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_fs_value = v; |
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} |
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void |
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RC::set_mix_mode(uint8_t m) |
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{ |
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_mix_mode = m; |
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} |
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void |
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RC::check_throttle_failsafe(uint16_t throttle) |
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{ |
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//check for failsafe and debounce funky reads |
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// ------------------------------------------ |
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if (throttle < _fs_value){ |
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// we detect a failsafe from radio |
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// throttle has dropped below the mark |
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_fs_counter++; |
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if (_fs_counter == 9){ |
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}else if(_fs_counter == 10) { |
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failsafe = 1; |
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}else if (_fs_counter > 10){ |
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_fs_counter = 11; |
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} |
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}else if(_fs_counter > 0){ |
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// we are no longer in failsafe condition |
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// but we need to recover quickly |
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_fs_counter--; |
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if (_fs_counter > 3){ |
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_fs_counter = 3; |
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} |
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if (_fs_counter == 1){ |
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}else if(_fs_counter == 0) { |
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failsafe = 0; |
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}else if (_fs_counter <0){ |
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_fs_counter = -1; |
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} |
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} |
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} |
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