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@ -15,6 +15,12 @@ |
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#include "Arduino.h"
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#include <EEPROM.h>
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#include <WiFi.h>
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#include <WiFiClient.h>
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#include <WebServer.h>
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#include <Update.h>
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// #define USE_SONAR
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// #define DEBUG
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@ -62,6 +68,313 @@ |
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uint32_t nextWireUpdate = 0; |
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#endif
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// Starting up Webserver
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WebServer server(80); |
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/*** Firmware Upgrade Page ***/ |
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const char* firmware_upgrade_html PROGMEM = R"rawliteral( |
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<script> |
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var iBytesUploaded = 0; |
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var iBytesTotal = 0; |
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var iPreviousBytesLoaded = 0; |
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var iMaxFilesize = 1048576; // 1MB
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var oTimer = 0; |
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var sResultFileSize = ''; |
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function secondsToTime(secs) { |
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var hr = Math.floor(secs / 3600); |
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var min = Math.floor((secs - (hr * 3600))/60); |
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var sec = Math.floor(secs - (hr * 3600) - (min * 60)); |
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if (hr < 10) {hr = "0" + hr; } |
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if (min < 10) {min = "0" + min;} |
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if (sec < 10) {sec = "0" + sec;} |
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if (hr) {hr = "00";} |
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return hr + ':' + min + ':' + sec; |
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}; |
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function bytesToSize(bytes) { |
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var sizes = ['Bytes', 'KB', 'MB']; |
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if (bytes == 0) return 'n/a'; |
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var i = parseInt(Math.floor(Math.log(bytes) / Math.log(1024))); |
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return (bytes / Math.pow(1024, i)).toFixed(1) + ' ' + sizes[i]; |
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}; |
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function fileSelected() { |
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document.getElementById('upload_response').style.display = 'none'; |
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document.getElementById('error').style.display = 'none'; |
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document.getElementById('error2').style.display = 'none'; |
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document.getElementById('abort').style.display = 'none'; |
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document.getElementById('warnsize').style.display = 'none'; |
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var oFile = document.getElementById('image_file').files[0]; |
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var rFilter = /^(image\/bmp|image\/gif|image\/jpeg|image\/png|image\/tiff)$/i; |
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if (! rFilter.test(oFile.type)) { |
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document.getElementById('error').style.display = 'block'; |
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return; |
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} |
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if (oFile.size > iMaxFilesize) { |
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document.getElementById('warnsize').style.display = 'block'; |
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return; |
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} |
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var oImage = document.getElementById('preview'); |
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var oReader = new FileReader(); |
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oReader.onload = function(e){ |
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oImage.src = e.target.result; |
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oImage.onload = function () { // binding onload event
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sResultFileSize = bytesToSize(oFile.size); |
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document.getElementById('fileinfo').style.display = 'block'; |
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document.getElementById('filename').innerHTML = 'Name: ' + oFile.name; |
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document.getElementById('filesize').innerHTML = 'Size: ' + sResultFileSize; |
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document.getElementById('filetype').innerHTML = 'Type: ' + oFile.type; |
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document.getElementById('filedim').innerHTML = 'Dimension: ' + oImage.naturalWidth + ' x ' + oImage.naturalHeight; |
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}; |
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}; |
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oReader.readAsDataURL(oFile); |
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} |
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function startUploading() { |
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iPreviousBytesLoaded = 0; |
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document.getElementById('upload_response').style.display = 'none'; |
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document.getElementById('error').style.display = 'none'; |
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document.getElementById('error2').style.display = 'none'; |
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document.getElementById('abort').style.display = 'none'; |
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document.getElementById('warnsize').style.display = 'none'; |
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document.getElementById('progress_percent').innerHTML = ''; |
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var oProgress = document.getElementById('progress'); |
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oProgress.style.display = 'block'; |
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oProgress.style.width = '0px'; |
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var vFD = new FormData(document.getElementById('upload_form')); |
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var oXHR = new XMLHttpRequest(); |
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oXHR.upload.addEventListener('progress', uploadProgress, false); |
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oXHR.addEventListener('load', uploadFinish, false); |
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oXHR.addEventListener('error', uploadError, false); |
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oXHR.addEventListener('abort', uploadAbort, false); |
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oXHR.open('POST', '/update'); |
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oXHR.send(vFD); |
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oTimer = setInterval(doInnerUpdates, 300); |
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} |
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function doInnerUpdates() { |
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var iCB = iBytesUploaded; |
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var iDiff = iCB - iPreviousBytesLoaded; |
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if (iDiff == 0) |
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return; |
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iPreviousBytesLoaded = iCB; |
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iDiff = iDiff * 2; |
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var iBytesRem = iBytesTotal - iPreviousBytesLoaded; |
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var secondsRemaining = iBytesRem / iDiff; |
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var iSpeed = iDiff.toString() + 'B/s'; |
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if (iDiff > 1024 * 1024) { |
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iSpeed = (Math.round(iDiff * 100/(1024*1024))/100).toString() + 'MB/s'; |
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} else if (iDiff > 1024) { |
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iSpeed = (Math.round(iDiff * 100/1024)/100).toString() + 'KB/s'; |
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} |
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document.getElementById('speed').innerHTML = iSpeed; |
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document.getElementById('remaining').innerHTML = '| ' + secondsToTime(secondsRemaining); |
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} |
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function uploadProgress(e) { |
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if (e.lengthComputable) { |
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iBytesUploaded = e.loaded; |
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iBytesTotal = e.total; |
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var iPercentComplete = Math.round(e.loaded * 100 / e.total); |
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var iBytesTransfered = bytesToSize(iBytesUploaded); |
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document.getElementById('progress_percent').innerHTML = iPercentComplete.toString() + '%'; |
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document.getElementById('progress').style.width = (iPercentComplete * 4).toString() + 'px'; |
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document.getElementById('b_transfered').innerHTML = iBytesTransfered; |
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if (iPercentComplete == 100) { |
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var oUploadResponse = document.getElementById('upload_response'); |
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oUploadResponse.innerHTML = '<h1>Please wait...processing</h1>'; |
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oUploadResponse.style.display = 'block'; |
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} |
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} else { |
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document.getElementById('progress').innerHTML = 'unable to compute'; |
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} |
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} |
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function uploadFinish(e) { |
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var oUploadResponse = document.getElementById('upload_response'); |
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oUploadResponse.innerHTML = e.target.responseText; |
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oUploadResponse.style.display = 'block'; |
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document.getElementById('progress_percent').innerHTML = '100%'; |
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document.getElementById('progress').style.width = '400px'; |
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document.getElementById('filesize').innerHTML = sResultFileSize; |
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document.getElementById('remaining').innerHTML = '| 00:00:00'; |
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clearInterval(oTimer); |
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} |
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function uploadError(e) { |
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document.getElementById('error2').style.display = 'block'; |
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clearInterval(oTimer); |
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} |
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function uploadAbort(e) { |
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document.getElementById('abort').style.display = 'block'; |
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clearInterval(oTimer); |
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} |
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</script> |
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<style> |
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.container { |
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margin: auto; |
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width: 50%; |
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} |
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.upload_form_cont { |
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background: -moz-linear-gradient(#ffffff, #f2f2f2); |
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background: -ms-linear-gradient(#ffffff, #f2f2f2); |
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background: -webkit-gradient(linear, left top, left bottom, color-stop(0%, #ffffff), color-stop(100%, #f2f2f2)); |
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background: -webkit-linear-gradient(#ffffff, #f2f2f2); |
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background: -o-linear-gradient(#ffffff, #f2f2f2); |
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filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#ffffff', endColorstr='#f2f2f2'); |
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-ms-filter: "progid:DXImageTransform.Microsoft.gradient(startColorstr='#ffffff', endColorstr='#f2f2f2')"; |
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background: linear-gradient(#ffffff, #f2f2f2); |
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color:#000; |
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overflow:hidden; |
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} |
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#upload_form {
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float:center; |
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padding:20px; |
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width:700px; |
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} |
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#preview {
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background-color:#fff; |
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display:block; |
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float:right; |
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width:200px; |
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} |
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#upload_form > div {
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margin-bottom:10px; |
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} |
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#speed,#remaining {
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float:left; |
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width:100px; |
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} |
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#b_transfered {
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float:right; |
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text-align:right; |
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} |
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.clear_both { |
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clear:both; |
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} |
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input { |
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border-radius:10px; |
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-moz-border-radius:10px; |
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-ms-border-radius:10px; |
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-o-border-radius:10px; |
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-webkit-border-radius:10px; |
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border:1px solid #ccc; |
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font-size:14pt; |
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padding:5px 10px; |
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} |
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input[type=button] { |
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background: -moz-linear-gradient(#ffffff, #dfdfdf); |
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background: -ms-linear-gradient(#ffffff, #dfdfdf); |
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background: -webkit-gradient(linear, left top, left bottom, color-stop(0%, #ffffff), color-stop(100%, #dfdfdf)); |
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background: -webkit-linear-gradient(#ffffff, #dfdfdf); |
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background: -o-linear-gradient(#ffffff, #dfdfdf); |
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filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#ffffff', endColorstr='#dfdfdf'); |
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-ms-filter: "progid:DXImageTransform.Microsoft.gradient(startColorstr='#ffffff', endColorstr='#dfdfdf')"; |
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background: linear-gradient(#ffffff, #dfdfdf); |
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} |
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#image_file {
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width:400px; |
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} |
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#progress_info {
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font-size:10pt; |
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} |
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#fileinfo,#error,#error2,#abort,#warnsize {
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color:#aaa; |
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display:none; |
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font-size:10pt; |
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font-style:italic; |
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margin-top:10px; |
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} |
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#progress {
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border:1px solid #ccc; |
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display:none; |
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float:left; |
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height:14px; |
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border-radius:10px; |
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-moz-border-radius:10px; |
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-ms-border-radius:10px; |
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-o-border-radius:10px; |
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-webkit-border-radius:10px; |
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background: -moz-linear-gradient(#66cc00, #4b9500); |
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background: -ms-linear-gradient(#66cc00, #4b9500); |
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background: -webkit-gradient(linear, left top, left bottom, color-stop(0%, #66cc00), color-stop(100%, #4b9500)); |
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background: -webkit-linear-gradient(#66cc00, #4b9500); |
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background: -o-linear-gradient(#66cc00, #4b9500); |
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filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#66cc00', endColorstr='#4b9500'); |
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-ms-filter: "progid:DXImageTransform.Microsoft.gradient(startColorstr='#66cc00', endColorstr='#4b9500')"; |
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background: linear-gradient(#66cc00, #4b9500); |
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} |
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#progress_percent {
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float:right; |
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} |
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#upload_response {
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margin-top: 10px; |
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padding: 20px; |
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overflow: hidden; |
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display: none; |
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border: 1px solid #ccc; |
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border-radius:10px; |
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-moz-border-radius:10px; |
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-ms-border-radius:10px; |
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-o-border-radius:10px; |
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-webkit-border-radius:10px; |
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box-shadow: 0 0 5px #ccc; |
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background: -moz-linear-gradient(#bbb, #eee); |
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background: -ms-linear-gradient(#bbb, #eee); |
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background: -webkit-gradient(linear, left top, left bottom, color-stop(0%, #bbb), color-stop(100%, #eee)); |
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background: -webkit-linear-gradient(#bbb, #eee); |
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background: -o-linear-gradient(#bbb, #eee); |
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filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#bbb', endColorstr='#eee'); |
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-ms-filter: "progid:DXImageTransform.Microsoft.gradient(startColorstr='#bbb', endColorstr='#eee')"; |
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background: linear-gradient(#bbb, #eee); |
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} |
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</style> |
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<body> |
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<header> |
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<h2 align='center'>*** OpenFlightRX - Firmware Uploader ***</h2> |
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</header> |
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<div class='container'> |
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<div class='contr'><h2>Please select a file to upload the firmware.</h2></div> |
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<div class='upload_form_cont'> |
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<form method='POST' action='/update' enctype='multipart/form-data' id='upload_form'> |
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<div> |
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<div><label for='image_file'>Please select image file</label></div> |
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<div><input type='file' name='update' id='image_file' onchange='fileSelected();' /></div> |
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</div> |
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<div><input type='button' value='Upload' onclick='startUploading()' /></div> |
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<div id='fileinfo'> |
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<div id='filename'></div> |
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<div id='filesize'></div> |
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<div id='filetype'></div> |
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<div id='filedim'></div> |
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</div> |
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<div id='error'>You should select valid image files only!</div> |
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<div id='error2'>An error occurred while uploading the file</div> |
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<div id='abort'>The upload has been canceled by the user or the browser dropped the connection</div> |
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<div id='warnsize'>Your file is very big. We can't accept it. Please select more small file</div> |
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<div id='progress_info'> |
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<div id='progress'></div> |
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<div id='progress_percent'> </div> |
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<div class='clear_both'></div> |
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<div> |
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<div id='speed'> </div> |
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<div id='remaining'> </div> |
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<div id='b_transfered'> </div> |
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<div class='clear_both'></div> |
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</div> |
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<div id='upload_response'></div> |
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</div> |
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</form> |
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</div> |
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</div> |
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</div> |
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</body> |
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)rawliteral"; |
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/*** Index Page ***/ |
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const char* index_html PROGMEM = R"rawliteral(<pre><strong>OpenFlightRX v1.0.0</strong> |
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)rawliteral"; |
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// WebPages ----- END
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// For NRF24L01 (E01) - EByte
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// #include "nRF24L01.h"
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#include "RF24.h"
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@ -95,14 +408,17 @@ TaskHandle_t NRFTask; |
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* to suit you needs. For the 5 seconds frame... if not connected over wifi, it will stop the wifi syncing process. |
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*/ |
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// TTTT TTTT TTTT ---- YYYY YYYY YYYY ---- PPPP PPPP PPPP ---- RRRR RRRR RRRR ---- SSSS SSSS = 72-bits ( 9 bytes )
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// 1234 5TTT TTTT TTTT 6789 AYYY YYYY YYYY ---- -PPP PPPP PPPP ---- -RRR RRRR RRRR (8-Bytes for AERT and switch commands!!)
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// Data Structure
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// 1234 5678 9TTT TTTT TTTT -YYY YYYY YYYY -PPP PPPP PPPP -RRR RRRR RRRR (7 Bytes)
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struct RxMessage { |
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uint16_t throttle; |
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uint16_t yaw; |
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uint16_t pitch; |
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uint16_t roll; |
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uint8_t switches; |
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uint8_t Byte00; |
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uint8_t Byte01; |
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uint8_t Byte02; |
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uint8_t Byte03; |
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uint8_t Byte04; |
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uint8_t Byte05; |
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uint8_t Byte06; |
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}; |
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RxMessage rxmessage; |
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@ -149,6 +465,7 @@ int nrf_received_count_raw = 0; |
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uint32_t last_seconds = 0; |
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uint32_t last_telnet_seconds = 0; |
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uint32_t last_webserver_seconds = 0; |
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bool ip_shown = false; |
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bool socket_connected = true; |
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@ -160,6 +477,83 @@ uint32_t nrf_last_receive = 0; |
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uint8_t freq_channel = 0; |
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uint64_t pipe_code = 0; |
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// Replace with your network credentials
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const char* ssid = "BERTFPV"; |
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const char* password = "LetMeIn1234"; // Must be >= 8 characters
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/* Put IP Address details */ |
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IPAddress local_ip(192,168,1,1); |
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IPAddress gateway(192,168,1,1); |
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IPAddress subnet(255,255,255,0); |
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void setup_webserver(void) { |
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// Create HostAP
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Serial.println(F("Starting SoftAP")); |
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WiFi.softAP(ssid, password); |
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Serial.println(F("Setting IP")); |
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WiFi.softAPConfig(local_ip, gateway, subnet); |
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delay(100); // Delay 100mS
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IPAddress IP = WiFi.softAPIP(); |
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Serial.print(F("AP IP address: ")); |
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Serial.println(IP); |
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// init and get the time
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// configTime(gmtOffset_sec, daylightOffset_sec, ntpServer);
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// Setting up OTA
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/*** Index Page ***/ |
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server.on("/", HTTP_GET, []() { |
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server.sendHeader("Connection", "close"); |
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server.send(200, "text/html", firmware_upgrade_html); |
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}); |
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/*** Firmware Upgrade Page ***/ |
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server.on("/firmware_upgrade", HTTP_GET, []() { |
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server.sendHeader("Connection", "close"); |
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server.send(200, "text/html", firmware_upgrade_html); |
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}); |
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// ################### HANDLING UPLOAD FIRMWARE HERE #########################
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/*** handling uploading firmware file ***/ |
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server.on("/update", HTTP_POST, []() { |
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server.sendHeader("Connection", "close"); |
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server.send(200, "text/plain", (Update.hasError()) ? "FAIL" : "OK. Device is rebooting"); |
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// Try to delay a bit...
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delay(1000); |
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ESP.restart(); |
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}, []() { |
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HTTPUpload& upload = server.upload(); |
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if(upload.status == UPLOAD_FILE_START) { |
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// Serial.printf("Update: %s\n", upload.filename.c_str());
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if(!Update.begin(UPDATE_SIZE_UNKNOWN)) { //start with max available size
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Update.printError(Serial); |
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} |
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} else if(upload.status == UPLOAD_FILE_WRITE) { |
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/*** flashing firmware to ESP ***/ |
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if(Update.write(upload.buf, upload.currentSize) != upload.currentSize) { |
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Update.printError(Serial); |
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} |
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} else if(upload.status == UPLOAD_FILE_END) { |
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if(Update.end(true)) { |
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//true to set the size to the current progress
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// Serial.printf("Update Success: %u\nRebooting...\n", upload.totalSize);
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} else { |
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Update.printError(Serial); |
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} |
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} |
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}); |
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// Starting up Server
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server.begin(); |
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// Just to debug...
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// if(WiFi.status() == WL_CONNECTED)
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// Serial.println(WiFi.localIP());
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} |
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void setup() { |
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// For USB Debugging
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Serial.begin(115200); |
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@ -268,8 +662,12 @@ void setup() { |
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// NRF Setup
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Serial.println(F("Setting up NRF")); |
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setup_nrf_rx(); |
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// Setup OTA
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Serial.println(F("Setting up webserver")); |
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setup_webserver(); |
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} |
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void loop() { |
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@ -278,7 +676,6 @@ void loop() { |
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nrf_received_count = nrf_received_count_raw; |
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nrf_received_count_raw = 0; |
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Serial.print("NRF:"); |
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Serial.println(nrf_received_count); |
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@ -293,7 +690,17 @@ void loop() { |
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*/ |
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} |
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nrf_recv(); |
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// Handling web services every 100mS
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if(millis() > last_webserver_seconds) { |
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server.handleClient(); |
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last_webserver_seconds = millis() + 100; |
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} |
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// Temporary
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////// nrf_recv();
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// socket_client();
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// telnet_server();
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#ifdef USE_SONAR
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@ -336,8 +743,8 @@ void loop() { |
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uint32_t last_reconnect = 0; |
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uint32_t last_sent = 0; |
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const char * host = "192.168.4.1"; |
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const uint16_t port = 1001; |
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// const char * host = "192.168.4.1";
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// const uint16_t port = 1001;
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// void socket_client(void) {
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// if(WiFi.status() == WL_CONNECTED) {
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@ -457,17 +864,17 @@ void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool |
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if (isFailsafe) { |
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stateByte |= SBUS_STATE_FAILSAFE; |
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} |
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packet[0] = SBUS_FRAME_HEADER; //Header
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packet[1] = (uint8_t) (output[0] & 0x07FF); |
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packet[2] = (uint8_t) ((output[0] & 0x07FF)>>8 | (output[1] & 0x07FF)<<3); |
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packet[3] = (uint8_t) ((output[1] & 0x07FF)>>5 | (output[2] & 0x07FF)<<6); |
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packet[4] = (uint8_t) ((output[2] & 0x07FF)>>2); |
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packet[5] = (uint8_t) ((output[2] & 0x07FF)>>10 | (output[3] & 0x07FF)<<1); |
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packet[6] = (uint8_t) ((output[3] & 0x07FF)>>7 | (output[4] & 0x07FF)<<4); |
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packet[7] = (uint8_t) ((output[4] & 0x07FF)>>4 | (output[5] & 0x07FF)<<7); |
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packet[8] = (uint8_t) ((output[5] & 0x07FF)>>1); |
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packet[9] = (uint8_t) ((output[5] & 0x07FF)>>9 | (output[6] & 0x07FF)<<2); |
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packet[0] = SBUS_FRAME_HEADER; //Header
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packet[1] = (uint8_t) (output[0] & 0x07FF); |
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packet[2] = (uint8_t) ((output[0] & 0x07FF)>>8 | (output[1] & 0x07FF)<<3); |
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packet[3] = (uint8_t) ((output[1] & 0x07FF)>>5 | (output[2] & 0x07FF)<<6); |
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packet[4] = (uint8_t) ((output[2] & 0x07FF)>>2); |
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packet[5] = (uint8_t) ((output[2] & 0x07FF)>>10 | (output[3] & 0x07FF)<<1); |
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packet[6] = (uint8_t) ((output[3] & 0x07FF)>>7 | (output[4] & 0x07FF)<<4); |
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packet[7] = (uint8_t) ((output[4] & 0x07FF)>>4 | (output[5] & 0x07FF)<<7); |
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packet[8] = (uint8_t) ((output[5] & 0x07FF)>>1); |
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packet[9] = (uint8_t) ((output[5] & 0x07FF)>>9 | (output[6] & 0x07FF)<<2); |
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packet[10] = (uint8_t) ((output[6] & 0x07FF)>>6 | (output[7] & 0x07FF)<<5); |
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packet[11] = (uint8_t) ((output[7] & 0x07FF)>>3); |
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packet[12] = (uint8_t) ((output[8] & 0x07FF)); |
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@ -490,32 +897,30 @@ void sbusPreparePacket(uint8_t packet[], int channels[], bool isSignalLoss, bool |
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void setPPMValuesFromData(void) { |
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static bool firstload = true; |
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/*
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* The values for: |
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* - throttle |
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* - yaw |
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* - pitch |
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* - roll |
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*/ |
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rcChannels[2] = rxmessage.throttle; // Throttle
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rcChannels[3] = rxmessage.yaw; // Yaw
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rcChannels[1] = rxmessage.pitch; // Pitch
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rcChannels[0] = rxmessage.roll; // Roll
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// Misc: (64 * channel_a) | (32 * channel_b) | (16 * channel_d) | (8 * channel_e) | (4 * channel_f) | (2 * channel_g) | (1 * channel_h);
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// ch6 reserved for the moment
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// 2021 New Data format for saving 2 bytes:
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// 1234 5678 9TTT TTTT TTTT -YYY YYYY YYYY -PPP PPPP PPPP -RRR RRRR RRRR (7 Bytes)
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// |-------| |-------| |-------| |-------| |-------| |-------| |-------|
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// Byte 00 Byte 01 Byte 02 Byte 03 Byte 04 Byte 05 Byte 06
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// Extracting data
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// Processing switches channel....
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rcChannels[5] = (rxmessage.switches & (1 << 0)) ? 2000 : 1000; |
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rcChannels[6] = (rxmessage.switches & (1 << 1)) ? 2000 : 1000; |
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rcChannels[7] = (rxmessage.switches & (1 << 2)) ? 2000 : 1000; |
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rcChannels[8] = (rxmessage.switches & (1 << 3)) ? 2000 : 1000; |
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rcChannels[9] = (rxmessage.switches & (1 << 4)) ? 2000 : 1000; |
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rcChannels[10] = (rxmessage.switches & (1 << 5)) ? 2000 : 1000; |
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rcChannels[11] = (rxmessage.switches & (1 << 6)) ? 2000 : 1000; |
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rcChannels[12] = (rxmessage.switches & (1 << 7)) ? 2000 : 1000; |
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rcChannels[4] = ((rxmessage.Byte00 >> 7) & 0x01) ? 2000 : 1000; // 1
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rcChannels[5] = ((rxmessage.Byte00 >> 6) & 0x01) ? 2000 : 1000; // 2
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rcChannels[6] = ((rxmessage.Byte00 >> 5) & 0x01) ? 2000 : 1000; // 3
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rcChannels[7] = ((rxmessage.Byte00 >> 4) & 0x01) ? 2000 : 1000; // 4
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rcChannels[8] = ((rxmessage.Byte00 >> 3) & 0x01) ? 2000 : 1000; // 5
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rcChannels[9] = ((rxmessage.Byte00 >> 2) & 0x01) ? 2000 : 1000; // 6
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rcChannels[10] = ((rxmessage.Byte00 >> 1) & 0x01) ? 2000 : 1000; // 7
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rcChannels[11] = ((rxmessage.Byte00 >> 0) & 0x01) ? 2000 : 1000; // 8
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rcChannels[12] = ((rxmessage.Byte01 >> 7) & 0x01) ? 2000 : 1000; // 9
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rcChannels[2] = ((rxmessage.Byte01 & 0X7F) << 4) | (rxmessage.Byte02 & 0xF0) >> 4; // Throttle
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|
|
rcChannels[3] = ((rxmessage.Byte02 & 0x07) << 8) | rxmessage.Byte03; // Yaw
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rcChannels[1] = ((rxmessage.Byte04 & 0x7F) << 4) | (rxmessage.Byte05 & 0xF0) >> 4; // Pitch
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rcChannels[0] = ((rxmessage.Byte05 & 0x07) << 8) | rxmessage.Byte06; // Roll
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|
|
// Static values... so leave it
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|
|
if(!firstload) { |
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|
|
rcChannels[4] = 1000; // Channel C
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|
rcChannels[13] = 1000; // Not in use
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|
rcChannels[14] = 1000; // Not in use
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|
rcChannels[15] = 1000; // Not in use
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@ -524,11 +929,13 @@ void setPPMValuesFromData(void) { |
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|
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} |
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|
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void resetData(void) { |
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|
|
rxmessage.throttle = 900; |
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|
|
rxmessage.yaw = 900; |
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|
|
rxmessage.pitch = 900; |
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|
|
rxmessage.roll = 900; |
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|
|
rxmessage.switches = 0; |
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|
|
rxmessage.Byte00 = 0; |
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|
|
rxmessage.Byte01 = 0; |
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|
|
rxmessage.Byte02 = 0; |
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|
|
rxmessage.Byte03 = 0; |
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|
|
rxmessage.Byte04 = 0; |
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|
|
rxmessage.Byte05 = 0; |
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|
|
rxmessage.Byte06 = 0; |
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|
|
setPPMValuesFromData(); |
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|
|
} |
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Englebert
3 years ago