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Fix for disabled CH7 value triggering WP saving

This commit is contained in:
Jason Short 2012-02-09 22:32:04 -08:00
parent 4313d19bc5
commit 3afaf2689c
1 changed files with 9 additions and 7 deletions
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16
ArduCopter/control_modes.pde
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@ -43,18 +43,20 @@ static void reset_control_switch()
read_control_switch();
}
#define CH_7_PWM_TRIGGER 1800
// read at 10 hz
// set this to your trainer switch
static void read_trim_switch()
{
#if CH7_OPTION == CH7_FLIP
if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER && g.rc_3.control_in != 0){
do_flip = true;
}
#elif CH7_OPTION == CH7_SET_HOVER
// switch is engaged
if (g.rc_7.control_in > 800){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true;
}else{ // switch is disengaged
@ -71,14 +73,14 @@ static void read_trim_switch()
}
#elif CH7_OPTION == CH7_ADC_FILTER
if (g.rc_7.control_in > 800){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
adc.filter_result = true;
}else{
adc.filter_result = false;
}
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
auto_level_counter = 10;
}
@ -87,10 +89,10 @@ static void read_trim_switch()
// this is the normal operation set by the mission planner
if(g.ch7_option == CH7_SIMPLE_MODE){
do_simple = (g.rc_7.control_in > 800);
do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (g.ch7_option == CH7_RTL){
if (trim_flag == false && g.rc_7.control_in > 800){
if (trim_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true;
set_mode(RTL);
}
@ -103,7 +105,7 @@ static void read_trim_switch()
}
}else if (g.ch7_option == CH7_SAVE_WP){
if (g.rc_7.control_in > 800){ // switch is engaged
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
trim_flag = true;
}else{ // switch is disengaged