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ACM : Toy mode updates

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This commit is contained in:
Jason Short 2012-08-11 22:30:26 -07:00
parent 1e0ab8768e
commit 8160aa6103
1 changed files with 6 additions and 4 deletions
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10
ArduCopter/toy.pde
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@ -2,8 +2,7 @@
// Toy Mode - THOR // Toy Mode - THOR
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
static boolean CH7_toy_flag; static boolean CH7_toy_flag;
static boolean CH6_toy_flag; //static boolean CH6_toy_flag;
static int16_t saved_toy_throttle;
#if TOY_MIXER == TOY_LOOKUP_TABLE #if TOY_MIXER == TOY_LOOKUP_TABLE
static const int16_t toy_lookup[] = { static const int16_t toy_lookup[] = {
@ -21,6 +20,8 @@ static const int16_t toy_lookup[] = {
//called at 10hz //called at 10hz
void update_toy_throttle() void update_toy_throttle()
{ {
/*
// Disabled, now handled by TOY_A (Alt hold) and TOY_M (Manual throttle)
if (false == CH6_toy_flag && g.rc_6.radio_in >= CH_6_PWM_TRIGGER){ if (false == CH6_toy_flag && g.rc_6.radio_in >= CH_6_PWM_TRIGGER){
CH6_toy_flag = true; CH6_toy_flag = true;
throttle_mode = THROTTLE_MANUAL; throttle_mode = THROTTLE_MANUAL;
@ -30,13 +31,14 @@ void update_toy_throttle()
throttle_mode = THROTTLE_AUTO; throttle_mode = THROTTLE_AUTO;
set_new_altitude(current_loc.alt); set_new_altitude(current_loc.alt);
saved_toy_throttle = g.rc_3.control_in; saved_toy_throttle = g.rc_3.control_in;
} }*/
// look for a change in throttle position to exit throttle hold // look for a change in throttle position to exit throttle hold
if(abs(g.rc_3.control_in - saved_toy_throttle) > 40){ if(abs(g.rc_3.control_in - saved_toy_throttle) > 40){
throttle_mode = THROTTLE_MANUAL; throttle_mode = THROTTLE_MANUAL;
} }
} }
#define TOY_ALT_SMALL 25 #define TOY_ALT_SMALL 25
#define TOY_ALT_LARGE 100 #define TOY_ALT_LARGE 100
@ -165,7 +167,7 @@ void roll_pitch_toy()
#if TOY_EDF == ENABLED #if TOY_EDF == ENABLED
// Output the attitude // Output the attitude
g.rc_1.servo_out = get_stabilize_roll(roll_rate); g.rc_1.servo_out = get_stabilize_roll(roll_rate);
g.rc_2.servo_out = get_stabilize_pitch(0); g.rc_2.servo_out = get_stabilize_pitch(g.rc_6.control_in); // use CH6 to trim pitch
#else #else
// Output the attitude // Output the attitude