From 74674b638bb279849596ff2d0f6339d53bc084d5 Mon Sep 17 00:00:00 2001
From: jphelirc <jphelirc@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Tue, 19 Oct 2010 16:07:51 +0000
Subject: [PATCH] flight orientation selection by DIP1 switch

git-svn-id: https://arducopter.googlecode.com/svn/trunk@693 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArducopterNG/ArduUser.h       |  2 +-
 ArducopterNG/Arducopter.h     |  1 +
 ArducopterNG/ArducopterNG.pde | 10 ++++++++--
 ArducopterNG/Radio.pde        |  7 ++++---
 ArducopterNG/System.pde       | 34 +++++++++++++++++-----------------
 5 files changed, 31 insertions(+), 23 deletions(-)

diff --git a/ArducopterNG/ArduUser.h b/ArducopterNG/ArduUser.h
index 7fd5b34073..963d0240a8 100644
--- a/ArducopterNG/ArduUser.h
+++ b/ArducopterNG/ArduUser.h
@@ -83,7 +83,7 @@ TODO:
 #define AUX_MID 1500
 
 #define CHANN_CENTER 1500       // Channel center, legacy
-#define MIN_THROTTLE 1080       // Throttle pulse width at minimun...
+#define MIN_THROTTLE 1040       // Throttle pulse width at minimun...
 
 /*************************************************************/
 // General definitions
diff --git a/ArducopterNG/Arducopter.h b/ArducopterNG/Arducopter.h
index eca11c866b..1a2e117b66 100644
--- a/ArducopterNG/Arducopter.h
+++ b/ArducopterNG/Arducopter.h
@@ -335,6 +335,7 @@ int leftMotor;
 int rightMotor;
 byte motorArmed = 0;
 int minThrottle = 0;
+boolean flightOrientation = 0;                    // 0 = +, 1 = x this is read from DIP1 switch during system bootup
 
 // Serial communication
 char queryType;
diff --git a/ArducopterNG/ArducopterNG.pde b/ArducopterNG/ArducopterNG.pde
index b71a133c50..4410d36486 100644
--- a/ArducopterNG/ArducopterNG.pde
+++ b/ArducopterNG/ArducopterNG.pde
@@ -84,9 +84,11 @@
 // Flight & Electronics orientation
 
 // Frame build condiguration
-#define FLIGHT_MODE_+    // Traditional "one arm as nose" frame configuration
+//#define FLIGHT_MODE_+    // Traditional "one arm as nose" frame configuration
 //#define FLIGHT_MODE_X  // Frame orientation 45 deg to CCW, nose between two arms
-
+// 19-10-10 by JP
+// This feature has been disabled for now, if you want to change between flight orientations
+// just use DIP switch for that. DIP1 down = X, DIP1 up = +
 
 // Magneto orientation and corrections.
 // If you don't have magneto actiavted, It is safe to ignore these
@@ -202,6 +204,10 @@ void setup() {
 // external command/telemetry
 // Battery monitor
 
+
+
+/* ***************************************************** */
+// Main loop 
 void loop()
 {
   //int aux;
diff --git a/ArducopterNG/Radio.pde b/ArducopterNG/Radio.pde
index 9eb2d7debb..e112113595 100644
--- a/ArducopterNG/Radio.pde
+++ b/ArducopterNG/Radio.pde
@@ -65,16 +65,17 @@ void read_radio()
     if (flightMode==STABLE_MODE)  // IN STABLE MODE we convert stick positions to absoulte angles
       {
       // In Stable mode stick position defines the desired angle in roll, pitch and yaw
-      #ifdef FLIGHT_MODE_X
+//      #ifdef FLIGHT_MODE_X
+      if(!flightOrientation) {
         // For X mode we make a mix in the input
         float aux_roll = (ch_roll-roll_mid) / STICK_TO_ANGLE_FACTOR;
         float aux_pitch = (ch_pitch-pitch_mid) / STICK_TO_ANGLE_FACTOR;
         command_rx_roll = aux_roll - aux_pitch;
         command_rx_pitch = aux_roll + aux_pitch;
-      #else
+      } else {
         command_rx_roll = (ch_roll-roll_mid) / STICK_TO_ANGLE_FACTOR;       // Convert stick position to absolute angles
         command_rx_pitch = (ch_pitch-pitch_mid) / STICK_TO_ANGLE_FACTOR;
-      #endif
+      }
 
       // YAW
       if (abs(ch_yaw-yaw_mid)>6)   // Take into account a bit of "dead zone" on yaw
diff --git a/ArducopterNG/System.pde b/ArducopterNG/System.pde
index 2d99f2bdeb..1a1f02a5b8 100644
--- a/ArducopterNG/System.pde
+++ b/ArducopterNG/System.pde
@@ -93,7 +93,23 @@ void APM_Init() {
 #endif
 #endif
 
-  readUserConfig(); // Load user configurable items from EEPROM
+  // Read DIP Switches and other important values. DIP switches needs special functions to 
+  // read due they are not defined as normal pins like other GPIO's are. 
+  SW_DIP1 = APMPinRead(PINE, 7);
+  SW_DIP2 = APMPinRead(PINE, 6);
+  SW_DIP3 = APMPinRead(PINL, 6);
+  SW_DIP4 = APMPinRead(PINL, 7);
+
+  /* Works, tested 18-10-10 JP
+   if(SW_DIP1) {
+   SerPrln("+ mode");
+   } else {
+   SerPrln("x mode");
+   } 
+   */
+
+  flightOrientation = SW_DIP1;    // DIP1 off = we are in + mode, DIP1 on = we are in x mode
+  readUserConfig();               // Load user configurable items from EEPROM
 
   // Safety measure for Channel mids
   if(roll_mid < 1400 || roll_mid > 1600) roll_mid = 1500;
@@ -155,22 +171,6 @@ void APM_Init() {
 
   delay(1000);
 
-  // Read DIP Switches and other important values. DIP switches needs special functions to 
-  // read due they are not defined as normal pins like other GPIO's are. 
-  SW_DIP1 = APMPinRead(PINE, 7);
-  SW_DIP2 = APMPinRead(PINE, 6);
-  SW_DIP3 = APMPinRead(PINL, 6);
-  SW_DIP4 = APMPinRead(PINL, 7);
-
-  /* Works, tested 18-10-10 JP
-   if(SW_DIP1) {
-   SerPrln("+ mode");
-   } else {
-   SerPrln("x mode");
-   } 
-   */
-
-
   DataFlash.StartWrite(1);   // Start a write session on page 1
   //timer = millis();
   //tlmTimer = millis();