Hi all!
I have a trouble.
I have very simple joystick without mapping channels and APM mini with AC 3.2.1 - heli. In wiring diagram I see, that connection is not direct (Direct connection is only for 1,2,4,5 channels). I whant to use 3-wire connection (PPM mode). In this mode PPM signal gets without any changes. How I can swap channels in APM?
I tried to change code in radio.pde:
g.rc_1.set_pwm(periods[rcmap.roll()-1]);
g.rc_2.set_pwm(periods[rcmap.pitch()-1]);
set_throttle_and_failsafe(periods[5]);
set_throttle_zero_flag(g.rc_3.control_in);
g.rc_4.set_pwm(periods[rcmap.yaw()-1]);
g.rc_5.set_pwm(periods[7]);
g.rc_6.set_pwm(periods[6]);
g.rc_7.set_pwm(periods[4]);
g.rc_8.set_pwm(periods[rcmap.throttle()-1]);
and in GCS_Mavlink.pde:
static void NOINLINE send_radio_out(mavlink_channel_t chan)
{
mavlink_msg_servo_output_raw_send(
chan,
micros(),
0, // port
hal.rcout->read(0),
hal.rcout->read(1),
hal.rcout->read(5),
hal.rcout->read(3),
hal.rcout->read(7),
hal.rcout->read(6),
hal.rcout->read(4),
hal.rcout->read(2));
}
Logic is works, but in mission planner, radio calibration tab I see direct connections, so that is prevents right calibration process. I think, that information about channels periods to MP sends 32u2 PPM encoder. But I’m not found place in code, where it happens. Please, help me found this place.