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ACM : CH_7 multimode option added

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This commit is contained in:
Jason Short 2012-08-11 22:27:04 -07:00
parent c305237e3a
commit 45574c0b1a
1 changed files with 18 additions and 12 deletions
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30
ArduCopter/control_modes.pde
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@ -45,18 +45,24 @@ static void reset_control_switch()
// set this to your trainer switch // set this to your trainer switch
static void read_trim_switch() static void read_trim_switch()
{ {
/* int8_t option;
// this is the normal operation set by the mission planner
if (g.rc_6.radio_in < CH_6_PWM_TRIGGER){
g.ch7_option = CH7_FLIP;
}else{
g.ch7_option = CH7_SAVE_WP;
}*/
if(g.ch7_option == CH7_SIMPLE_MODE){ if(g.ch7_option == CH7_MULTI_MODE){
if (g.rc_6.radio_in < CH_6_PWM_TRIGGER_LOW){
option = CH7_FLIP;
}else if (g.rc_6.radio_in > CH_6_PWM_TRIGGER_HIGH){
option = CH7_SAVE_WP;
}else{
option = CH7_RTL;
}
}else{
option = g.ch7_option;
}
if(option == CH7_SIMPLE_MODE){
do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER); do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (g.ch7_option == CH7_FLIP){ }else if (option == CH7_FLIP){
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){ if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
CH7_flag = true; CH7_flag = true;
@ -69,7 +75,7 @@ static void read_trim_switch()
CH7_flag = false; CH7_flag = false;
} }
}else if (g.ch7_option == CH7_RTL){ }else if (option == CH7_RTL){
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){ if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
CH7_flag = true; CH7_flag = true;
set_mode(RTL); set_mode(RTL);
@ -82,7 +88,7 @@ static void read_trim_switch()
} }
} }
}else if (g.ch7_option == CH7_SAVE_WP){ }else if (option == CH7_SAVE_WP){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
CH7_flag = true; CH7_flag = true;
@ -141,7 +147,7 @@ static void read_trim_switch()
// 3 = command total // 3 = command total
} }
} }
}else if (g.ch7_option == CH7_AUTO_TRIM){ }else if (option == CH7_AUTO_TRIM){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
auto_level_counter = 10; auto_level_counter = 10;
} }