DJI NAZA-M controller (multi copter side) see: https://developer.mbed.org/users/okini3939/notebook/drone/
Dependencies: FutabaSBUS NECnfc mbed
NazaSBus.cpp@0:4a37291f07ca, 2016-05-19 (annotated)
- Committer:
- okini3939
- Date:
- Thu May 19 08:56:47 2016 +0000
- Revision:
- 0:4a37291f07ca
1st build;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
okini3939 | 0:4a37291f07ca | 1 | #include "mbed.h" |
okini3939 | 0:4a37291f07ca | 2 | #include "drone.h" |
okini3939 | 0:4a37291f07ca | 3 | #include "FutabaSBUS.h" |
okini3939 | 0:4a37291f07ca | 4 | |
okini3939 | 0:4a37291f07ca | 5 | #define STICK_CENTER 0x400 |
okini3939 | 0:4a37291f07ca | 6 | #define STICK_TILT 0x294 |
okini3939 | 0:4a37291f07ca | 7 | |
okini3939 | 0:4a37291f07ca | 8 | FutabaSBUS sbus(p9, p10); |
okini3939 | 0:4a37291f07ca | 9 | |
okini3939 | 0:4a37291f07ca | 10 | void setFailsafeSBus (int flg) { |
okini3939 | 0:4a37291f07ca | 11 | sbus.failsafe(flg ? SBUS_SIGNAL_FAILSAFE : SBUS_SIGNAL_OK); |
okini3939 | 0:4a37291f07ca | 12 | } |
okini3939 | 0:4a37291f07ca | 13 | |
okini3939 | 0:4a37291f07ca | 14 | void setSBus (int ch, int num) { |
okini3939 | 0:4a37291f07ca | 15 | sbus.servo(ch, num); |
okini3939 | 0:4a37291f07ca | 16 | } |
okini3939 | 0:4a37291f07ca | 17 | |
okini3939 | 0:4a37291f07ca | 18 | void initSBus () { |
okini3939 | 0:4a37291f07ca | 19 | sbus.failsafe(SBUS_SIGNAL_FAILSAFE); |
okini3939 | 0:4a37291f07ca | 20 | sbus.passthrough(false); |
okini3939 | 0:4a37291f07ca | 21 | sbus.start(); |
okini3939 | 0:4a37291f07ca | 22 | } |