Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: initialise ch7 and ch8 aux switches

Browse Source 
This ensures that if you have simple mode or sonar attached to an
auxiliary switch it will be enabled or disabled according to the switch
immediately after start-up
This commit is contained in:
Randy Mackay 2013-07-16 22:05:59 +09:00
parent d9824dc23e
commit 41ba4a1ed2
2 changed files with 35 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
ArduCopter/control_modes.pde
View File

@ -74,6 +74,39 @@ static void read_aux_switches()
}
}
// init_aux_switches - invoke configured actions at start-up for aux function where it is safe to do so
static void init_aux_switches()
{
// set channel 7 and 8 flags according to switch position
ap_system.CH7_flag = (g.rc_7.radio_in >= AUX_SWITCH_PWM_TRIGGER);
ap_system.CH8_flag = (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER);
// init channel 7 options
switch(g.ch7_option) {
case AUX_SWITCH_SIMPLE_MODE:
case AUX_SWITCH_SONAR:
case AUX_SWITCH_FENCE:
case AUX_SWITCH_RESETTOARMEDYAW:
do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
break;
}
// safety check to ensure we ch7 and ch8 have different functions
if (g.ch7_option == g.ch8_option) {
return;
}
// init channel 8 option
switch(g.ch8_option) {
case AUX_SWITCH_SIMPLE_MODE:
case AUX_SWITCH_SONAR:
case AUX_SWITCH_FENCE:
case AUX_SWITCH_RESETTOARMEDYAW:
do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
break;
}
}
// do_aux_switch_function - implement the function invoked by the ch7 or ch8 switch
static void do_aux_switch_function(int8_t ch_function, bool ch_flag)
{

4
ArduCopter/system.pde
View File

@ -260,10 +260,10 @@ static void init_ardupilot()
// -------------------
init_commands();
// set the correct flight mode
// initialise the flight mode and aux switch
// ---------------------------
reset_control_switch();
init_aux_switches();
startup_ground();