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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduSub/radio.cpp
Views: 1798
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#include "Sub.h"

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void Sub::init_rc_in()

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{

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    channel_pitch    = RC_Channels::rc_channel(0);

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    channel_roll     = RC_Channels::rc_channel(1);

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    channel_throttle = RC_Channels::rc_channel(2);

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    channel_yaw      = RC_Channels::rc_channel(3);

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    channel_forward  = RC_Channels::rc_channel(4);

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    channel_lateral  = RC_Channels::rc_channel(5);

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    // set rc channel ranges

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    channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);

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    channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);

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    channel_yaw->set_angle(ROLL_PITCH_INPUT_MAX);

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    channel_throttle->set_range(1000);

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    channel_forward->set_angle(ROLL_PITCH_INPUT_MAX);

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    channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX);

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    // set default dead zones

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    channel_roll->set_default_dead_zone(30);

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    channel_pitch->set_default_dead_zone(30);

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    channel_throttle->set_default_dead_zone(30);

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    channel_yaw->set_default_dead_zone(40);

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    channel_forward->set_default_dead_zone(30);

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    channel_lateral->set_default_dead_zone(30);

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#if CONFIG_HAL_BOARD != HAL_BOARD_SITL

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    // initialize rc input to 1500 on control channels (rather than 0)

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    for (int i = 0; i < 6; i++) {

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        RC_Channels::set_override(i, 1500);

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    }

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    RC_Channels::set_override(6, 1500); // camera pan channel

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    RC_Channels::set_override(7, 1500); // camera tilt channel

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    RC_Channel* chan = RC_Channels::rc_channel(8);

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    uint16_t min = chan->get_radio_min();

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    RC_Channels::set_override(8, min); // lights 1 channel

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    chan = RC_Channels::rc_channel(9);

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    min = chan->get_radio_min();

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    RC_Channels::set_override(9, min); // lights 2 channel

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    RC_Channels::set_override(10, 1100); // video switch

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#endif

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}

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// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration

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void Sub::init_rc_out()

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{

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    motors.set_update_rate(g.rc_speed);

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    motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), AP_Motors::motor_frame_type::MOTOR_FRAME_TYPE_PLUS);

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    motors.convert_pwm_min_max_param(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());

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    motors.update_throttle_range();

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    // enable output to motors

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    if (arming.rc_calibration_checks(true)) {

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        enable_motor_output();

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    }

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    // refresh auxiliary channel to function map

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    SRV_Channels::update_aux_servo_function();

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}

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