How the commands are sent to the servos?

Posted by entropia666 on May 5, 2012 at 1:24pm

I've been reading the most recent Arducopter 2.5.4 version, I cannot understand how the commands are sent to the servos/motors.

I understand that the function "set_servos_4()" is doing the job, but after that I'm lost.

An instance of the class AP_MotorsQuad is created (and called "motors") and the method "output" should use the "output_armed()" function whose definition I cannot find...

Sorry I'm a newb!

Ciao,

Michele

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –
Follow

Replies

  • vaqas afzal May 12, 2012 at 11:49am

    michele, here can i get a c file for this code......i wanna c if i can change it according to my model???? so can u please gimme a link???? 

  • entropia666 May 6, 2012 at 3:23am

    Ok I found the output_armed() function definition in AP_MotorsMatrix.cpp file.


    set_servos_4() calls motors.output();

    motors.output() (output() defined in AP_Motors.h) calls output_armed() (defined in AP_MotorsMatrix.cpp).


    I hope this helps someone like me who is lost with objects/classes/methods...

This reply was deleted.