ardupilot/ArduCopter/control_modes.pde

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

static void read_control_switch()
{
	static bool switch_debouncer = false;
	byte switchPosition = readSwitch();

	if (oldSwitchPosition != switchPosition){
		if(switch_debouncer){
			// remember the prev location for GS
			prev_WP 			= current_loc;
			oldSwitchPosition 	= switchPosition;
			switch_debouncer 	= false;

			set_mode(flight_modes[switchPosition]);

			if(g.ch7_option != CH7_SIMPLE_MODE){
				// set Simple mode using stored paramters from Mission planner
				// rather than by the control switch
	            do_simple = (g.simple_modes & (1 << switchPosition));
			}
		}else{
			switch_debouncer 	= true;
		}
	}
}

static byte readSwitch(void){
	int pulsewidth = g.rc_5.radio_in;			// default for Arducopter

	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;
}

static void reset_control_switch()
{
	oldSwitchPosition = -1;
	read_control_switch();
}

// read at 10 hz
// set this to your trainer switch
static void read_trim_switch()
{
	#if CH7_OPTION == CH7_FLIP
		if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){
			do_flip = true;
		}

	#elif CH7_OPTION == CH7_SIMPLE_MODE
		//Serial.println(g.rc_7.control_in, DEC);

	#elif CH7_OPTION == CH7_SET_HOVER
		// switch is engaged
		if (g.rc_7.control_in > 800){
			trim_flag = true;

		}else{ // switch is disengaged

			if(trim_flag){
				trim_flag = false;

				// 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());
				}
			}
		}

	#elif CH7_OPTION == CH7_ADC_FILTER
		if (g.rc_7.control_in > 800){
			adc.filter_result = true;
		}else{
			adc.filter_result = false;
		}

		#elif CH7_OPTION == CH7_AUTO_TRIM
		if (g.rc_7.control_in > 800){
			auto_level_counter = 10;
		}

	#else

	// this is the normal operation set by the mission planner

	if(g.ch7_option == CH7_SIMPLE_MODE){
		do_simple = (g.rc_7.control_in > 800);

	}else if (g.ch7_option == CH7_RTL){
		if (trim_flag == false && g.rc_7.control_in > 800){
			trim_flag = true;
			set_mode(RTL);
		}

		if (trim_flag == true && g.rc_7.control_in < 800){
			trim_flag = false;
			if (control_mode == RTL || control_mode == LOITER){
				reset_control_switch();
			}
		}

	}else if (g.ch7_option == CH7_SAVE_WP){
		if (g.rc_7.control_in > 800){ // switch is engaged
			trim_flag = true;

		}else{ // switch is disengaged
			if(trim_flag){
				trim_flag = false;
				// increment index
				CH7_wp_index++;

				// set the next_WP, 0 is Home so we don't set that
				// max out at 100 since I think we need to stay under the EEPROM limit
				CH7_wp_index = constrain(CH7_wp_index, 1, 100);

				// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
				current_loc.id = MAV_CMD_NAV_WAYPOINT;

				// save command
				set_cmd_with_index(current_loc, CH7_wp_index);

				// save the index
				g.command_total.set_and_save(CH7_wp_index + 1);
			}
		}
	}
	#endif

}

static void auto_trim()
{
	if(auto_level_counter > 0){
		//g.rc_1.dead_zone = 60;		// 60 = .6 degrees
		//g.rc_2.dead_zone = 60;

		auto_level_counter--;
		trim_accel();
		led_mode = AUTO_TRIM_LEDS;

		if(auto_level_counter == 1){
			//g.rc_1.dead_zone = 0;		// 60 = .6 degrees
			//g.rc_2.dead_zone = 0;
			led_mode = NORMAL_LEDS;
			clear_leds();
			imu.save();

			//Serial.println("Done");
			auto_level_counter = 0;

			// set TC
			init_throttle_cruise();
		}
	}
}



static void trim_accel()
{
	g.pi_stabilize_roll.reset_I();
	g.pi_stabilize_pitch.reset_I();

	if(g.rc_1.control_in > 0){ // Roll RIght
		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){ // Pitch Back
		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,
							(float)imu.ax(),
							(float)imu.ay(),
							(float)imu.az());
	//*/
}