// setup
void setup()
{
hal.console->println("AP_Motors library test ver 1.0");
// motor initialisation
motors.set_update_rate(490);
// motors.set_frame_orientation(AP_MOTORS_X_FRAME);
motors.set_frame_orientation(AP_MOTORS_PLUS_FRAME);
motors.set_min_throttle(130);
motors.set_hover_throttle(500);
motors.Init(); // initialise motors
// setup radio
if (rc3.radio_min == 0) {
// cope with AP_Param not being loaded
rc3.radio_min = 1000;
}
if (rc3.radio_max == 0) {
// cope with AP_Param not being loaded
rc3.radio_max = 2000;
}
// set rc channel ranges
rc1.set_angle(4500);
rc2.set_angle(4500);
rc3.set_range(130, 1000);
rc4.set_angle(4500);
motors.enable();
motors.output_min();
hal.scheduler->delay(1000);
}
void apmotors_output_init(void) {
angular_channel_setup(&s_roll);
angular_channel_setup(&s_pitch);
angular_channel_setup(&s_yaw);
throttle_channel_setup(&s_throttle);
motors.set_update_rate(50); /* Is this appropriate with IOAR?
Otherwise? */
motors.set_frame_orientation(AP_MOTORS_X_FRAME);
motors.Init();
motors.set_min_throttle(THROTTLE_MINIMUM);
motors.set_max_throttle(THROTTLE_MAXIMUM);
motors.enable();
motors.output_min();
motors.auto_armed(true);
}