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Sub: radio.cpp: initialise correct channels

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This commit is contained in:
ES-Alexander
2025-08-01 09:10:57 +10:00
committed by Willian Galvani
parent 8c7baa48da
commit d0d8051eca
1 changed files with 18 additions and 5 deletions
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23
ArduSub/radio.cpp
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@@ -26,12 +26,25 @@ void Sub::init_rc_in()
channel_lateral->set_default_dead_zone(30);
// initialize rc input to 1500 on control channels (rather than 0)
for (int i = 0; i < 6; i++) {
RC_Channels::set_override(i, 1500);
}
uint32_t tnow = AP_HAL::millis();
channel_roll->set_override(1500, tnow);
channel_pitch->set_override(1500, tnow);
channel_yaw->set_override(1500, tnow);
channel_throttle->set_override(1500, tnow);
channel_forward->set_override(1500, tnow);
channel_lateral->set_override(1500, tnow);
RC_Channels::set_override(6, 1500); // camera pan channel
RC_Channels::set_override(7, 1500); // camera tilt channel
#if HAL_MOUNT_ENABLED
// initialize camera mount RC inputs to centered
RC_Channel *cam_pan_chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOUNT1_YAW);
if (cam_pan_chan != nullptr) {
cam_pan_chan->set_override(1500, tnow);
}
RC_Channel *cam_tilt_chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOUNT1_PITCH);
if (cam_tilt_chan != nullptr) {
cam_tilt_chan->set_override(1500, tnow);
}
#endif // HAL_MOUNT_ENABLED
}
// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration