From e7dacaa04575c5ec9c7425b3800e4410e7f522fc Mon Sep 17 00:00:00 2001
From: DennisEisold <de@eisold-edv.de>
Date: Mon, 19 Jan 2015 21:16:30 +0100
Subject: [PATCH] added Reverse Flap
---
libraries/AP_HAL_AVR/RCOutput_APM2.cpp | 16 ++++++++++++++--
1 file changed, 14 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_HAL_AVR/RCOutput_APM2.cpp b/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
index fdf5106f2..ab25eba61 100644
--- a/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
+++ b/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
@@ -153,8 +153,20 @@ void APM2RCOutput::write(uint8_t ch, uint16_t period_us) {
switch(ch)
{
case 0: OCR1B=pwm; break; // out1
- case 1: OCR1A=pwm; break; // out2
- case 2: OCR4C=pwm; break; // out3
+ case 1: {
+ //OCR1A=pwm;
+ break; // out2
+ }
+ case 2: {
+ if (period_us > 1500) {
+ OCR4C=constrain_period((uint16_t)(period_us)) << 1;
+ OCR1A=constrain_period((uint16_t)(1000)) << 1;
+ } else {
+ OCR4C=constrain_period((uint16_t)(1500 - period_us + 1500)) << 1;
+ OCR1A=constrain_period((uint16_t)(2000)) << 1;
+ }
+ break; // out3
+ }
case 3: OCR4B=pwm; break; // out4
case 4: OCR4A=pwm; break; // out5
case 5: OCR3C=pwm; break; // out6
--
GitLab