// 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.Init(); motors.set_throttle_range(130,1000,2000); motors.set_hover_throttle(500); motors.enable(); motors.output_min(); // 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); hal.scheduler->delay(1000); }
// reset_swash_servo void AP_MotorsHeli::reset_swash_servo(RC_Channel& servo) { servo.set_range(0, 1000); // swash servos always use full endpoints as restricting them would lead to scaling errors servo.radio_min = 1000; servo.radio_max = 2000; }