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Copter: added de-bouncing of aux switches 

this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
This commit is contained in:
Andrew Tridgell 2018-05-27 18:56:16 +10:00 committed by Randy Mackay
parent 945a392409
commit 0d56526400
2 changed files with 34 additions and 1 deletions
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7
ArduCopter/Copter.h
View File

@ -354,6 +354,12 @@ private:
uint32_t last_edge_time_ms; // system time that switch position was last changed
} control_switch_state;
// de-bounce counters for switches.cpp
struct debounce {
uint8_t count;
uint8_t ch_flag;
} aux_debounce[(CH_12 - CH_7)+1];
typedef struct {
bool running;
float max_speed;
@ -901,6 +907,7 @@ private:
void init_aux_switches();
void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag);
void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag);
bool debounce_aux_switch(uint8_t chan, uint8_t ch_flag);
void save_trim();
void auto_trim();

28
ArduCopter/switches.cpp
View File

@ -125,7 +125,7 @@ uint8_t Copter::read_3pos_switch(uint8_t chan)
#define read_aux_switch(chan, flag, option) \
do { \
switch_position = read_3pos_switch(chan); \
if (flag != switch_position) { \
if (debounce_aux_switch(chan, flag) && flag != switch_position) { \
flag = switch_position; \
do_aux_switch_function(option, flag); \
} \
@ -209,6 +209,32 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
}
}
/*
debounce an aux switch using a counter in copter.debounce
structure. This will return false until the same ch_flag is seen debounce_count times
*/
bool Copter::debounce_aux_switch(uint8_t chan, uint8_t ch_flag)
{
// a value of 2 means we need 3 values in a row with the same
// value to activate
const uint8_t debounce_count = 2;
if (chan < CH_7 || chan > CH_12) {
// someone has forgotten to expand the debounce channel range
return false;
}
struct debounce &db = aux_debounce[chan-CH_7];
if (db.ch_flag != ch_flag) {
db.ch_flag = ch_flag;
db.count = 0;
return false;
}
if (db.count < debounce_count) {
db.count++;
}
return db.count >= debounce_count;
}
// do_aux_switch_function - implement the function invoked by the ch7 or ch8 switch
void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
{