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ArduCopter: added CH7 option to trigger camera

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Restructured reading of channel 7 into a switch statement.
This commit is contained in:
rmackay9 2012-12-06 17:47:01 +09:00
parent f4cd7b870b
commit 80d9c76009
1 changed files with 43 additions and 53 deletions
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96
ArduCopter/control_modes.pde
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@ -52,60 +52,50 @@ static void reset_control_switch()
// set this to your trainer switch
static void read_trim_switch()
{
int8_t option;
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;
// return immediately if the CH7 switch has not changed position
if (ap_system.CH7_flag == (g.rc_7.radio_in >= CH7_PWM_TRIGGER)) {
return;
}
if(option == CH7_SIMPLE_MODE) {
//ap.simple_mode = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
set_simple_mode(g.rc_7.radio_in > CH_7_PWM_TRIGGER);
// set the ch7 flag
ap_system.CH7_flag = (g.rc_7.radio_in >= CH7_PWM_TRIGGER);
}else if (option == CH7_FLIP) {
if (ap_system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
ap_system.CH7_flag = true;
// don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff
if(g.rc_3.control_in != 0 && ap.takeoff_complete) {
switch(g.ch7_option) {
case CH7_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if(ap_system.CH7_flag && g.rc_3.control_in >= 0 && ap.takeoff_complete) {
init_flip();
}
}
if (ap_system.CH7_flag == true && g.rc_7.control_in < 800) {
ap_system.CH7_flag = false;
}
break;
}else if (option == CH7_RTL) {
if (ap_system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
ap_system.CH7_flag = true;
set_mode(RTL);
}
case CH7_SIMPLE_MODE:
set_simple_mode(ap_system.CH7_flag);
break;
if (ap_system.CH7_flag == true && g.rc_7.control_in < 800) {
ap_system.CH7_flag = false;
if (control_mode == RTL || control_mode == LOITER) {
reset_control_switch();
case CH7_RTL:
if (ap_system.CH7_flag) {
// engage RTL
set_mode(RTL);
}else{
// disengage RTL to previous flight mode if we are currently in RTL or loiter
if (control_mode == RTL || control_mode == LOITER) {
reset_control_switch();
}
}
}
break;
}else if (option == CH7_SAVE_WP) {
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) { // switch is engaged
ap_system.CH7_flag = true;
case CH7_SAVE_TRIM:
if(ap_system.CH7_flag && control_mode <= ACRO && g.rc_3.control_in == 0) {
save_trim_counter = 15;
}
break;
}else{ // switch is disengaged
if(ap_system.CH7_flag) {
ap_system.CH7_flag = false;
case CH7_SAVE_WP:
// save when CH7 switch is switched off
if (ap_system.CH7_flag == false) {
// if in auto mode, reset the mission
if(control_mode == AUTO) {
// reset the mission
CH7_wp_index = 0;
g.command_total.set_and_save(1);
set_mode(RTL);
@ -147,18 +137,18 @@ static void read_trim_switch()
// save command
set_cmd_with_index(current_loc, CH7_wp_index);
copter_leds_nav_blink = 10; // Cause the CopterLEDs to blink twice to indicate saved waypoint
// 0 = home
// 1 = takeoff
// 2 = WP 2
// 3 = command total
// Cause the CopterLEDs to blink twice to indicate saved waypoint
copter_leds_nav_blink = 10;
}
}
}else if (option == CH7_AUTO_TRIM) {
if(g.rc_7.radio_in > CH_7_PWM_TRIGGER && control_mode <= ACRO && g.rc_3.control_in == 0) {
save_trim_counter = 15;
}
break;
#if CAMERA == ENABLED
case CH7_CAMERA_TRIGGER:
if(ap_system.CH7_flag) {
g.camera.trigger_pic();
}
break;
#endif
}
}