// rc_loops - reads user input from transmitter/receiver
// called at 100hz
void Copter::rc_loop()
{
// Read radio and 3-position switch on radio
// -----------------------------------------
read_radio();
read_control_switch();
}
void Copter::rc_loop()
{
// Read radio and 3-position switch on radio
// -----------------------------------------
read_radio();
read_control_switch();
/*******************************************
* 添加者:程志强
* 描述:首先向两个舵机发送指令，然后接受数据，并向日志中书写数据
* 修改日期：2016/5/5,2016/6/24
* 频率提高到400Hz
******************************************* */
/*******************************************
* 添加者:程志强
* 描述:首先向两个舵机发送指令，然后接受数据，并向日志中书写数据
* 修改日期：2016/6/24
******************************************* */
chuart.send_token();
chuart.readUart();
DataFlash.Log_Write_Act(chuart.sd[0],0);
DataFlash.Log_Write_Act(chuart.sd[1],1);
}
void Plane::reset_control_switch()
{
oldSwitchPosition = 254;
read_control_switch();
}
void Rover::reset_control_switch()
{
oldSwitchPosition = 254;
read_control_switch();
}
void Copter::reset_control_switch()
{
control_switch_state.last_switch_position = control_switch_state.debounced_switch_position = -1;
read_control_switch();
}