I would like to ask if pixhawk and APM2.5 have the same "motor to channel map" as the code in ap_motors_class.cpp is written as below:
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM1_MOTOR_TO_CHANNEL_MAP};
#else
const uint8_t AP_Motors::_motor_to_channel_map[AP_MOTORS_MAX_NUM_MOTORS] PROGMEM = {APM2_MOTOR_TO_CHANNEL_MAP};
#endif
I am thinking if they are sharing the same motor map?
I was using arducoper 3.0.1 previously and just started using arducoper 3.2 recently. I found out that the code is somewhat different from the previous version.
For instance,
V3.0.1 : hal.rcout -> write( channel, pwm)
V3.2 : hal.rcout -> write(pgm_read_byte(channel),pwm)
May I know what is the difference? Can I remove the pgm_read_byte() from the code? Will it lead to any malfunction to the system after removing it?
Replies
Does anyone know how to get the motor start turning in the V3.2? it seems to me that
hal.rcout -> write(pgm_read_byte(channel),pwm)
would work, but somehow it didn't.
Can someone tell me why?