APM312的刷机固件文件

ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x – New interrupt system that handles certain Futaba receivers better (simultaneous changes on groups of R/C channels in fast intervals) – Adapted behaviour in case of channel loss: ch1, roll: set to center (1500us) ch2, pitch: set to center (1500us) ch3, throttle: set to low (900us) ch4, yaw: set to center (1500us) ch5-ch8: retain last value HOW-TO: http://code.google.com/p/ardupilot-mega/wiki/APM2Encoder APM 2.x LED STATUS: ——————- RX – OFF = No input signal detected RX – SLOW TOGGLE = Input signal OK RX – FAST TOGGLE = Invalid input signal(s) detected RX – ON = Input signal(s) lost during flight and fail-safe activated TX – OFF= PPM output disabled TX – FAST TOGGLE = PPM output enabled TX – SLOW TOGGLE = PPM pass-trough mode SERVO INPUT (PWM) MODE: ———————– – PPM output will not be enabled unless a input signal has been detected and verified – Verified inputs are lost during operation (lose servo wire or receiver malfunction): + The last known value of the lost input channel is kept for ~1 second + If the lost input channel is not restored within ~1 second, it will be set to the default fail-safe value (for channel 1-4) or kept at the last value (for channel 5-8) – Lost channel signal is restored: + Normal channel operation is restored using the valid input signal PPM PASS-THROUGH MODE (signal pin 2&3 shorted): ———————————————– – PPM output will not be enabled unless a input signal has been detected – Active signal on input channel 1 has been detected: + Any input level changes will be passed directly to the PPM output (PPM pass-trough) + If no input level changes are detected withing 250ms: + PPM output is enabled and default fail-safe values for all eight channels transmitted + Input level change detected again, PPM fail-safe output is terminated and normal PPM pass-through operation is restore