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){
			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()
{
	int8_t option;

	if(g.ch7_option == CH7_MULTI_MODE){
		if (g.rc_6.radio_in < CH_6_PWM_TRIGGER_LOW){
			option = CH7_FLIP;
		}else if (g.rc_6.radio_in > CH_6_PWM_TRIGGER_HIGH){
			option = CH7_SAVE_WP;
		}else{
			option = CH7_RTL;
		}
	}else{
		option = g.ch7_option;
	}

	if(option == CH7_SIMPLE_MODE){
		do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);

	}else if (option == CH7_FLIP){
		if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
			CH7_flag = true;

			// don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff
			if(g.rc_3.control_in != 0 && takeoff_complete){
				init_flip();
			}
		}
		if (CH7_flag == true && g.rc_7.control_in < 800){
			CH7_flag = false;
		}

	}else if (option == CH7_RTL){
		if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
			CH7_flag = true;
			set_mode(RTL);
		}

		if (CH7_flag == true && g.rc_7.control_in < 800){
			CH7_flag = false;
			if (control_mode == RTL || control_mode == LOITER){
				reset_control_switch();
			}
		}

	}else if (option == CH7_SAVE_WP){
		if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
			CH7_flag = true;

		}else{ // switch is disengaged
			if(CH7_flag){
				CH7_flag = false;

				if(control_mode == AUTO){
					// reset the mission
					CH7_wp_index = 0;
					g.command_total.set_and_save(1);
					set_mode(RTL);
					return;
				}

				if(CH7_wp_index == 0){
					// this is our first WP, let's save WP 1 as a takeoff
					// increment index to WP index of 1 (home is stored at 0)
					CH7_wp_index = 1;

					Location temp	= home;
					// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
					temp.id = MAV_CMD_NAV_TAKEOFF;
					temp.alt = current_loc.alt;

					// save command:
					// we use the current altitude to be the target for takeoff.
					// only altitude will matter to the AP mission script for takeoff.
					// If we are above the altitude, we will skip the command.
					set_cmd_with_index(temp, CH7_wp_index);
				}

				// increment index
				CH7_wp_index++;

				// set the next_WP (home is stored at 0)
				// max out at 100 since I think we need to stay under the EEPROM limit
				CH7_wp_index = constrain(CH7_wp_index, 1, 100);

				if(g.rc_3.control_in > 0){
					// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
					current_loc.id = MAV_CMD_NAV_WAYPOINT;
				}else{
					// set our location ID to 21, MAV_CMD_NAV_LAND
					current_loc.id = MAV_CMD_NAV_LAND;
				}

				// save command
				set_cmd_with_index(current_loc, CH7_wp_index);

				copter_leds_nav_blink = 10;	// Cause the CopterLEDs to blink twice to indicate saved waypoint

				// 0 = home
				// 1 = takeoff
				// 2 = WP 2
				// 3 = command total
			}
		}
	}else if (option == CH7_AUTO_TRIM){
		if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
			auto_level_counter = 10;
		}
	}
}

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;
		do_simple = false;

		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();

			reset_control_switch();

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


/*
How this works:
Level Example:
A_off: -14.00, -20.59, -30.80

Right roll Example:
A_off: -6.73, 89.05, -46.02

Left Roll Example:
A_off: -18.11, -160.31, -56.42

Pitch Forward:
A_off: -127.00, -22.16, -50.09

Pitch Back:
A_off: 201.95, -24.00, -88.56
*/

static void trim_accel()
{
	reset_stability_I();

	float trim_roll  = (float)g.rc_1.control_in / 30000.0;
	float trim_pitch = (float)g.rc_2.control_in / 30000.0;

	trim_roll 	= constrain(trim_roll, -1.5, 1.5);
	trim_pitch 	= constrain(trim_pitch, -1.5, 1.5);

	if(g.rc_1.control_in > 200){ // Roll Right
		imu.ay(imu.ay() - trim_roll);
	}else if (g.rc_1.control_in < -200){
		imu.ay(imu.ay() - trim_roll);
	}

	if(g.rc_2.control_in > 200){ // Pitch Back
		imu.ax(imu.ax() + trim_pitch);
	}else if (g.rc_2.control_in < -200){
		imu.ax(imu.ax() + trim_pitch);
	}

	/*
	Serial.printf_P(PSTR("r:%1.2f  %1.2f \t| p:%1.2f  %1.2f\n"),
							trim_roll,
							(float)imu.ay(),
							trim_pitch,
							(float)imu.ax());
	//*/
}