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Copter: Ch7/8 switch to enable/disable feed forward and accel limiting

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This commit is contained in:
Randy Mackay 2014-06-10 15:56:15 +09:00
parent 46f25c52a4
commit 810c87969c
3 changed files with 18 additions and 2 deletions
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4
ArduCopter/Parameters.pde
View File

@ -391,14 +391,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),

14
ArduCopter/control_modes.pde
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@ -113,6 +113,8 @@ static void init_aux_switches()
case AUX_SWITCH_PARACHUTE_ENABLE:
case AUX_SWITCH_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUX_SWITCH_MISSIONRESET:
case AUX_SWITCH_ATTCON_FEEDFWD:
case AUX_SWITCH_ATTCON_ACCEL_LIM:
do_aux_switch_function(g.ch7_option, ap.CH7_flag);
break;
}
@ -131,6 +133,8 @@ static void init_aux_switches()
case AUX_SWITCH_PARACHUTE_ENABLE:
case AUX_SWITCH_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUX_SWITCH_MISSIONRESET:
case AUX_SWITCH_ATTCON_FEEDFWD:
case AUX_SWITCH_ATTCON_ACCEL_LIM:
do_aux_switch_function(g.ch8_option, ap.CH8_flag);
break;
}
@ -409,6 +413,16 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
mission.reset();
}
break;
case AUX_SWITCH_ATTCON_FEEDFWD:
// enable or disable feed forward
attitude_control.bf_feedforward(ch_flag == AUX_SWITCH_HIGH);
break;
case AUX_SWITCH_ATTCON_ACCEL_LIM:
// enable or disable accel limiting by restoring defaults
attitude_control.accel_limiting(ch_flag == AUX_SWITCH_HIGH);
break;
}
}

2
ArduCopter/defines.h
View File

@ -57,6 +57,8 @@
#define AUX_SWITCH_PARACHUTE_RELEASE 22 // Parachute release
#define AUX_SWITCH_PARACHUTE_3POS 23 // Parachute disable, enable, release with 3 position switch
#define AUX_SWITCH_MISSIONRESET 24 // Reset auto mission to start from first command
#define AUX_SWITCH_ATTCON_FEEDFWD 25 // enable/disable the roll and pitch rate feed forward
#define AUX_SWITCH_ATTCON_ACCEL_LIM 26 // enable/disable the roll, pitch and yaw accel limiting
// values used by the ap.ch7_opt and ap.ch8_opt flags
#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)