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Rover: added LEARN_CH parameter

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this allows the learning channel to be set, for transmitters where
setting up channel 7 is difficult
This commit is contained in:
Andrew Tridgell 2013-07-01 10:10:38 +10:00
parent d0c69b36b6
commit 135146c735
6 changed files with 13 additions and 7 deletions
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2
APMrover2/APMrover2.pde
View File

@ -126,6 +126,7 @@ static RCMapper rcmap;
// primary control channels
static RC_Channel *channel_steer;
static RC_Channel *channel_throttle;
static RC_Channel *channel_learn;
////////////////////////////////////////////////////////////////////////////////
// prototypes
@ -422,7 +423,6 @@ static bool ch7_flag;
// This register tracks the current Mission Command index when writing
// a mission using CH7 in flight
static int8_t CH7_wp_index;
float tuning_value;
////////////////////////////////////////////////////////////////////////////////
// Battery Sensors

2
APMrover2/Parameters.h
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@ -122,6 +122,7 @@ public:
k_param_mode4,
k_param_mode5,
k_param_mode6,
k_param_learn_channel,
//
// 220: Waypoint data
@ -231,6 +232,7 @@ public:
AP_Int8 mode4;
AP_Int8 mode5;
AP_Int8 mode6;
AP_Int8 learn_channel;
// Waypoints
//

6
APMrover2/Parameters.pde
View File

@ -348,6 +348,12 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(sonar_debounce, "SONAR_DEBOUNCE", 2),
// @Param: LEARN_CH
// @DisplayName: Learning channel
// @Description: RC Channel to use for learning waypoints
// @User: Advanced
GSCALAR(learn_channel, "LEARN_CH", 7),
// @Param: MODE_CH
// @DisplayName: Mode channel
// @Description: RC Channel to use for driving mode control

2
APMrover2/control_modes.pde
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@ -59,7 +59,7 @@ static void read_trim_switch()
case CH7_DO_NOTHING:
break;
case CH7_SAVE_WP:
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
if (channel_learn->radio_in > CH_7_PWM_TRIGGER) {
// switch is engaged
ch7_flag = true;
} else { // switch is disengaged

1
APMrover2/radio.pde
View File

@ -7,6 +7,7 @@ static void set_control_channels(void)
{
channel_steer = RC_Channel::rc_channel(rcmap.roll()-1);
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
channel_learn = RC_Channel::rc_channel(g.learn_channel-1);
// set rc channel ranges
channel_steer->set_angle(SERVO_MAX);

7
APMrover2/test.pde
View File

@ -140,9 +140,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
// ------------------------------
set_servos();
tuning_value = constrain_float(((float)(g.rc_7.radio_in - g.rc_7.radio_min) / (float)(g.rc_7.radio_max - g.rc_7.radio_min)),0,1);
cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d Tuning = %2.3f\n"),
cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
channel_steer->control_in,
g.rc_2.control_in,
channel_throttle->control_in,
@ -150,8 +148,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
g.rc_5.control_in,
g.rc_6.control_in,
g.rc_7.control_in,
g.rc_8.control_in,
tuning_value);
g.rc_8.control_in);
if(cliSerial->available() > 0){
return (0);