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
