Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-13 03:13:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: flight mode changes ignored while in throttle failsafe

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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 // store the value so we don't trip the gate twice
// ----------------------------------------------- // -----------------------------------------------
//failsafe = mode;
ap.failsafe = mode; ap.failsafe = mode;
if (ap.failsafe == false) { if (ap.failsafe == false) {

13
ArduCopter/ArduCopter.pde
View File

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

22
ArduCopter/control_modes.pde
View File

@ -1,28 +1,34 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- 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 void read_control_switch()
{ {
static bool switch_debouncer = false; static uint8_t switch_counter = 0;
byte switchPosition = readSwitch(); byte switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition) { if (oldSwitchPosition != switchPosition) {
if(switch_debouncer) { switch_counter++;
if(switch_counter >= CONTROL_SWITCH_COUNTER) {
oldSwitchPosition = switchPosition; oldSwitchPosition = switchPosition;
switch_debouncer = false; switch_counter = 0;
// ignore flight mode changes if in failsafe
if( !ap.failsafe ) {
set_mode(flight_modes[switchPosition]); set_mode(flight_modes[switchPosition]);
if(g.ch7_option != CH7_SIMPLE_MODE) { if(g.ch7_option != CH7_SIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner // set Simple mode using stored paramters from Mission planner
// rather than by the control switch // rather than by the control switch
//ap.simple_mode = (g.simple_modes & (1 << switchPosition));
set_simple_mode(g.simple_modes & (1 << switchPosition)); 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;
}
} }
static byte readSwitch(void){ static byte readSwitch(void){
@ -31,8 +37,8 @@ static byte readSwitch(void){
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1; if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2; if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3; if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual if (pulsewidth > 1620 && pulsewidth <= 1749) return 4;
if (pulsewidth >= 1750) return 5; // Hardware Manual if (pulsewidth >= 1750) return 5;
return 0; return 0;
} }