// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
void Copter::init_rc_out()
{
motors.set_update_rate(g.rc_speed);
motors.set_frame_orientation(g.frame_orientation);
motors.set_loop_rate(scheduler.get_loop_rate_hz());
motors.Init(); // motor initialisation
#if FRAME_CONFIG != HELI_FRAME
motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
for(uint8_t i = 0; i < 5; i++) {
delay(20);
read_radio();
}
// we want the input to be scaled correctly
channel_throttle->set_range_out(0,1000);
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// take a proportion of speed.
hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
// check if we should enter esc calibration mode
esc_calibration_startup_check();
// enable output to motors
pre_arm_rc_checks();
if (ap.pre_arm_rc_check) {
enable_motor_output();
}
// refresh auxiliary channel to function map
RC_Channel_aux::update_aux_servo_function();
}
// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
void Copter::init_rc_out()
{
motors->set_loop_rate(scheduler.get_loop_rate_hz());
motors->init((AP_Motors::motor_frame_class)g2.frame_class.get(), (AP_Motors::motor_frame_type)g.frame_type.get());
// enable aux servos to cope with multiple output channels per motor
SRV_Channels::enable_aux_servos();
// update rate must be set after motors->init() to allow for motor mapping
motors->set_update_rate(g.rc_speed);
#if FRAME_CONFIG != HELI_FRAME
motors->set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#else
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
// take a proportion of speed.
hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());
#endif
// refresh auxiliary channel to function map
SRV_Channels::update_aux_servo_function();
#if FRAME_CONFIG != HELI_FRAME
/*
setup a default safety ignore mask, so that servo gimbals can be active while safety is on
*/
uint16_t safety_ignore_mask = (~copter.motors->get_motor_mask()) & 0x3FFF;
BoardConfig.set_default_safety_ignore_mask(safety_ignore_mask);
#endif
// check if we should enter esc calibration mode
esc_calibration_startup_check();
}
