Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: Disable CH6 Tuning

This commit is contained in:
Jacob Walser 2016-11-25 22:55:35 -05:00 committed by Andrew Tridgell
parent 69d89c5871
commit 3010114adb
6 changed files with 18 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduSub/ArduSub.cpp
View File

@ -465,8 +465,10 @@ void Sub::three_hz_loop()
update_events(); update_events();
#if CH6_TUNE_ENABLED == ENABLED
// update ch6 in flight tuning // update ch6 in flight tuning
tuning(); tuning();
#endif
} }
// one_hz_loop - runs at 1Hz // one_hz_loop - runs at 1Hz

2
ArduSub/Parameters.cpp
View File

@ -366,6 +366,7 @@ const AP_Param::Info Sub::var_info[] = {
// @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled // @Values: 0:Normal Start-up, 1:Start-up in ESC Calibration mode if throttle high, 2:Start-up in ESC Calibration mode regardless of throttle, 9:Disabled
GSCALAR(esc_calibrate, "ESC_CALIBRATION", 0), GSCALAR(esc_calibrate, "ESC_CALIBRATION", 0),
#if CH6_TUNE_ENABLED == ENABLED
// @Param: TUNE // @Param: TUNE
// @DisplayName: Channel 6 Tuning // @DisplayName: Channel 6 Tuning
// @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
@ -386,6 +387,7 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Standard // @User: Standard
// @Range: 0 32767 // @Range: 0 32767
GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000), GSCALAR(radio_tuning_high, "TUNE_HIGH", 1000),
#endif
#if AUXSW_ENABLED == ENABLED #if AUXSW_ENABLED == ENABLED
// @Param: CH7_OPT // @Param: CH7_OPT

2
ArduSub/Parameters.h
View File

@ -343,9 +343,11 @@ public:
// //
AP_Int32 log_bitmask; AP_Int32 log_bitmask;
AP_Int8 esc_calibrate; AP_Int8 esc_calibrate;
#if CH6_TUNE_ENABLED == ENABLED
AP_Int8 radio_tuning; AP_Int8 radio_tuning;
AP_Int16 radio_tuning_high; AP_Int16 radio_tuning_high;
AP_Int16 radio_tuning_low; AP_Int16 radio_tuning_low;
#endif
AP_Int8 ch7_option; AP_Int8 ch7_option;
AP_Int8 ch8_option; AP_Int8 ch8_option;
AP_Int8 ch9_option; AP_Int8 ch9_option;

2
ArduSub/Sub.h
View File

@ -859,7 +859,9 @@ private:
void check_usb_mux(void); void check_usb_mux(void);
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
void print_hit_enter(); void print_hit_enter();
#if CH6_TUNE_ENABLED == ENABLED
void tuning(); void tuning();
#endif
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...); void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
bool start_command(const AP_Mission::Mission_Command& cmd); bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd); bool verify_command(const AP_Mission::Mission_Command& cmd);

8
ArduSub/config.h
View File

@ -86,6 +86,14 @@
# define RC_FAST_SPEED 490 # define RC_FAST_SPEED 490
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Channel 6 Tuning
//
#ifndef CH6_TUNE_ENABLED
# define CH6_TUNE_ENABLED DISABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Aux Switches // Aux Switches
// //

3
ArduSub/tuning.cpp
View File

@ -1,6 +1,6 @@
/// -*- 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 -*-
#include "Sub.h" #include "Sub.h"
#if CH6_TUNE_ENABLED == ENABLED
/* /*
* tuning.pde - function to update various parameters in flight using the ch6 tuning knob * tuning.pde - function to update various parameters in flight using the ch6 tuning knob
@ -190,3 +190,4 @@ void Sub::tuning() {
break; break;
} }
} }
#endif