From 76bf784f8c6447dee3892388420bf0a79b75d277 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Thu, 27 Oct 2011 11:34:00 -0700
Subject: [PATCH] RC_Channel Dead zone

Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
---
 ArduCopter/control_modes.pde        |  4 ++++
 ArduCopter/radio.pde                | 12 +++++++-----
 libraries/RC_Channel/RC_Channel.cpp |  2 +-
 libraries/RC_Channel/RC_Channel.h   |  8 +++++---
 4 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 438bec2d6b..3d604f612d 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -139,8 +139,12 @@ static void auto_trim()
 			led_mode = NORMAL_LEDS;
 			clear_leds();
 			imu.save();
+
 			//Serial.println("Done");
 			auto_level_counter = 0;
+
+			// set TC
+			init_throttle_cruise();
 		}
 	}
 }
diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde
index faca5889c5..649ef66774 100644
--- a/ArduCopter/radio.pde
+++ b/ArduCopter/radio.pde
@@ -4,6 +4,13 @@
 // ----------------------------------------------------------------------------
 static byte failsafeCounter = 0;		// we wait a second to take over the throttle and send the plane circling
 
+static void default_dead_zones()
+{
+	g.rc_1.set_dead_zone(60);
+	g.rc_2.set_dead_zone(60);
+	g.rc_3.set_dead_zone(60);
+	g.rc_4.set_dead_zone(200);
+}
 
 static void init_rc_in()
 {
@@ -29,14 +36,9 @@ static void init_rc_in()
 	g.rc_4.dead_zone = 300;
 	*/
 
-	g.rc_1.set_dead_zone(60);
-	g.rc_2.set_dead_zone(60);
-	g.rc_3.set_dead_zone(60);
-	g.rc_4.set_dead_zone(200);
 
 	//set auxiliary ranges
 	g.rc_5.set_range(0,1000);
-	g.rc_5.set_filter(false);
 	g.rc_6.set_range(0,1000);
 	g.rc_7.set_range(0,1000);
 	g.rc_8.set_range(0,1000);
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 11af18e10a..d290dd01cd 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -38,7 +38,7 @@ RC_Channel::set_angle(int angle)
 void
 RC_Channel::set_dead_zone(int dzone)
 {
-	_dead_zone = abs(dzone >>1);
+	_dead_zone.set_and_save(abs(dzone >>1));
 }
 
 void
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 9ce43fd1c0..1bbe02fd58 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -26,9 +26,10 @@ class RC_Channel{
         radio_trim(&_group, 1, 1500, name ? PSTR("TRIM") : 0),
         radio_max (&_group, 2, 1900, name ? PSTR("MAX") : 0),
 		_high(1),
-		_filter(true),
+		_filter(false),
 		_reverse  (&_group, 3,    1, name ? PSTR("REV") : 0),
-		_dead_zone(0),
+		_dead_zone (&_group, 4,   0, name ? PSTR("DZ") : 0),
+		//_dead_zone(0),
 		scale_output(1.0)
 	{}
 
@@ -97,7 +98,8 @@ class RC_Channel{
 	bool		_filter;
 	AP_Int8 	_reverse;
 
-	int16_t 	_dead_zone; // used to keep noise down and create a dead zone.
+	AP_Int16 	_dead_zone;
+	//int16_t 	_dead_zone; // used to keep noise down and create a dead zone.
 	uint8_t 	_type;
 	int16_t 	_high;
 	int16_t 	_low;