ardupilot/ArduCopterMega/control_modes.pde

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void read_control_switch()
{
byte switchPosition = readSwitch();
//motor_armed = (switchPosition < 5);
if (oldSwitchPosition != switchPosition){
if(motor_armed)
Serial.println("motor_armed");
else
Serial.println("motor disarmed");
set_mode(flight_modes[switchPosition]);
oldSwitchPosition = switchPosition;
// reset navigation integrators
// -------------------------
reset_I();
}
}
byte readSwitch(void){
#if FLIGHT_MODE_CHANNEL == CH_5
int pulsewidth = rc_5.radio_in; // default for Arducopter
#elif FLIGHT_MODE_CHANNEL == CH_6
int pulsewidth = rc_6.radio_in; //
#elif FLIGHT_MODE_CHANNEL == CH_7
int pulsewidth = rc_7.radio_in; //
#elif FLIGHT_MODE_CHANNEL == CH_8
int pulsewidth = rc_8.radio_in; // default for Ardupilot. Don't use for Arducopter! it has a hardware failsafe mux!
#else
# error Must define FLIGHT_MODE_CHANNEL as CH_5 - CH_8
#endif
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
if (pulsewidth >= 1750) return 5; // Hardware Manual
return 0;
}
void reset_control_switch()
{
oldSwitchPosition = -1;
read_control_switch();
//Serial.print("MSG: reset_control_switch");
//Serial.println(oldSwitchPosition , DEC);
}
void update_servo_switches()
{
}
boolean trim_flag;
unsigned long trim_timer;
// read at 10 hz
// set this to your trainer switch
void read_trim_switch()
{
// switch is engaged
if (rc_7.radio_in > 1500){
if(trim_flag == false){
// called once
trim_timer = millis();
}
trim_flag = true;
//trim_accel();
//Serial.println("trim_accels");
}else{ // switch is disengaged
if(trim_flag){
// switch was just released
if((millis() - trim_timer) > 2000){
/*
if(rc_3.control_in == 0){
imu.init_accel();
imu.print_accel_offsets();
}*/
Serial.printf("r: %d, p: %d\n", rc_1.control_in, rc_2.control_in);
// set new accel offset values
imu.ax(((long)rc_1.control_in * -15) / 100);
imu.ay(((long)rc_2.control_in * -15) / 100);
imu.print_accel_offsets();
} else {
// set the throttle nominal
if(rc_3.control_in > 50){
throttle_cruise = rc_3.control_in;
Serial.print("tnom ");
Serial.println(throttle_cruise, DEC);
save_EEPROM_throttle_cruise();
}
}
trim_flag = false;
}
}
}