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APM: added RST_SWITCH_CH parameter 

This is useful for switching back to the mode indicated by the control
switch after a failsafe or fence breach. I was just changing modes
each time, but it is far more elegant to have a spring loaded switch
for "I am ready to take control again", rather than continually
changing modes.
This commit is contained in:
Andrew Tridgell 2011-12-19 09:42:32 +11:00
parent 28d3582139
commit 226470c614
3 changed files with 21 additions and 1 deletions
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3
ArduPlane/Parameters.h
View File

@ -70,6 +70,7 @@ public:
k_param_flap_2_speed,
k_param_num_resets,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
k_param_reset_switch_chan,
// 110: Telemetry control
@ -320,6 +321,7 @@ public:
AP_Int16 num_resets;
AP_Int16 log_bitmask;
AP_Int16 log_last_filenumber; // *** Deprecated - remove with next eeprom number change
AP_Int8 reset_switch_chan;
AP_Int16 airspeed_cruise;
AP_Int16 min_gndspeed;
AP_Int16 pitch_trim;
@ -435,6 +437,7 @@ public:
num_resets (0, k_param_num_resets, PSTR("SYS_NUM_RESETS")),
log_bitmask (DEFAULT_LOG_BITMASK, k_param_log_bitmask, PSTR("LOG_BITMASK")),
log_last_filenumber (0, k_param_log_last_filenumber, PSTR("LOG_LASTFILE")),
reset_switch_chan (0, k_param_reset_switch_chan, PSTR("RST_SWITCH_CH")),
airspeed_cruise (AIRSPEED_CRUISE_CM, k_param_airspeed_cruise, PSTR("TRIM_ARSPD_CM")),
min_gndspeed (MIN_GNDSPEED_CM, k_param_min_gndspeed, PSTR("MIN_GNDSPD_CM")),
pitch_trim (0, k_param_pitch_trim, PSTR("TRIM_PITCH_CD")),

8
ArduPlane/config.h
View File

@ -816,3 +816,11 @@
#ifndef FENCE_TRIGGERED_PIN
# define FENCE_TRIGGERED_PIN -1
#endif
// if RESET_SWITCH_CH is not zero, then this is the PWM value on
// that channel where we reset the control mode to the current switch
// position (to for example return to switched mode after failsafe or
// fence breach)
#ifndef RESET_SWITCH_CHAN_PWM
# define RESET_SWITCH_CHAN_PWM 1750
#endif

11
ArduPlane/control_modes.pde
View File

@ -3,7 +3,16 @@
static void read_control_switch()
{
byte switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition){
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
// used to force re-reading of the control switch. This is useful
// when returning to the previous mode after a failsafe or fence
// breach. This channel is best used on a momentary switch (such
// as a spring loaded trainer switch).
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
APM_RC.InputCh(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
set_mode(flight_modes[switchPosition]);