ardupilot/ArduCopterMega/control_modes.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

void read_control_switch()
{
	byte switchPosition = readSwitch();
	//motor_armed = (switchPosition < 5);

	if (oldSwitchPosition != switchPosition){

		set_mode(g.flight_modes[switchPosition]);

		oldSwitchPosition = switchPosition;
		prev_WP = current_loc;

		// reset navigation integrators
		// -------------------------
		reset_I();
	}
}

byte readSwitch(void){
	#if   FLIGHT_MODE_CHANNEL == CH_5
		int pulsewidth = g.rc_5.radio_in;			// default for Arducopter
	#elif FLIGHT_MODE_CHANNEL == CH_6
		int pulsewidth = g.rc_6.radio_in;			//
	#elif FLIGHT_MODE_CHANNEL == CH_7
		int pulsewidth = g.rc_7.radio_in;			//
	#elif FLIGHT_MODE_CHANNEL == CH_8
		int pulsewidth = g.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();
	SendDebug("MSG: reset_control_switch ");
	SendDebugln(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 (g.rc_7.control_in > 800){
		if(trim_flag == false){
			// called once
			trim_timer = millis();
		}

		trim_flag = true;
		trim_accel();


	}else{ // switch is disengaged

		if(trim_flag){
			// switch was just released
			if((millis() - trim_timer) > 2000){
				#if HIL_MODE != HIL_MODE_ATTITUDE
				imu.save();
				#endif
			}else{
				// set the throttle nominal
				if(g.rc_3.control_in > 150){
					g.throttle_cruise.set_and_save(g.rc_3.control_in);
					//Serial.printf("tnom %d\n", g.throttle_cruise.get());
				}

				// this is a test for Max's tri-copter
				if(g.frame_type == TRI_FRAME){
					g.rc_4.trim();	// yaw
					g.rc_4.save_eeprom();
				}
			}
			trim_flag = false;
		}
	}
}


void trim_accel()
{
	if(g.rc_1.control_in > 0){
		imu.ay(imu.ay() + 1);
	}else if (g.rc_1.control_in < 0){
		imu.ay(imu.ay() - 1);
	}

	if(g.rc_2.control_in > 0){
		imu.ax(imu.ax() + 1);
	}else if (g.rc_2.control_in < 0){
		imu.ax(imu.ax() - 1);
	}

	/*Serial.printf_P(PSTR("r:%ld p:%ld ax:%f, ay:%f, az:%f\n"),
							dcm.roll_sensor,
							dcm.pitch_sensor,
							(double)imu.ax(),
							(double)imu.ay(),
							(double)imu.az());*/
}