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ArduCopter: flight mode changes ignored while in throttle failsafe

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reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
This commit is contained in:
rmackay9 2012-11-13 12:50:51 +09:00
parent cdfd3f9ccc
commit 258442770d
3 changed files with 24 additions and 22 deletions
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1
ArduCopter/AP_State.pde
View File

@ -51,7 +51,6 @@ static void set_failsafe(bool mode)
// store the value so we don't trip the gate twice
// -----------------------------------------------
//failsafe = mode;
ap.failsafe = mode;
if (ap.failsafe == false) {

13
ArduCopter/ArduCopter.pde
View File

@ -1037,10 +1037,6 @@ static void fast_loop()
// ------------------------------
set_servos_4();
// Read radio
// ----------
read_radio();
// IMU DCM Algorithm
// --------------------
read_AHRS();
@ -1061,6 +1057,11 @@ static void fast_loop()
}
#endif
// Read radio and 3-position switch on radio
// -----------------------------------------
read_radio();
read_control_switch();
// custom code/exceptions for flight modes
// ---------------------------------------
update_yaw_mode();
@ -1299,10 +1300,6 @@ static void slow_loop()
case 1:
slow_loopCounter++;
// Read 3-position switch on radio
// -------------------------------
read_control_switch();
#if MOUNT == ENABLED
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif

32
ArduCopter/control_modes.pde
View File

@ -1,27 +1,33 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define CONTROL_SWITCH_COUNTER 5 // 5 iterations (1/10th of a second) at a new switch position will cause flight mode change
static void read_control_switch()
{
static bool switch_debouncer = false;
static uint8_t switch_counter = 0;
byte switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition) {
if(switch_debouncer) {
switch_counter++;
if(switch_counter >= CONTROL_SWITCH_COUNTER) {
oldSwitchPosition = switchPosition;
switch_debouncer = false;
switch_counter = 0;
set_mode(flight_modes[switchPosition]);
// ignore flight mode changes if in failsafe
if( !ap.failsafe ) {
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
//ap.simple_mode = (g.simple_modes & (1 << switchPosition));
set_simple_mode(g.simple_modes & (1 << switchPosition));
if(g.ch7_option != CH7_SIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
set_simple_mode(g.simple_modes & (1 << switchPosition));
}
}
}else{
switch_debouncer = true;
}
}else{
// reset switch_counter if there's been no change
// we don't want 10 intermittant blips causing a flight mode change
switch_counter = 0;
}
}
@ -31,8 +37,8 @@ static byte readSwitch(void){
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
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4;
if (pulsewidth >= 1750) return 5;
return 0;
}