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Copter: added FLTMODE_CH parameter 

this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
This commit is contained in:
Andrew Tridgell 2017-04-10 18:39:10 +10:00 committed by Randy Mackay
parent 692e6518cc
commit 89674482a7
4 changed files with 24 additions and 6 deletions
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7
ArduCopter/Parameters.cpp
View File

@ -336,6 +336,13 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),
// @Param: FLTMODE_CH
// @DisplayName: Flightmode channel
// @Description: RC Channel to use for flight mode control
// @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8
// @User: Advanced
GSCALAR(flight_mode_chan, "FLTMODE_CH", CH_MODE_DEFAULT),
// @Param: SIMPLE
// @DisplayName: Simple mode bitmask
// @Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)

2
ArduCopter/Parameters.h
View File

@ -313,6 +313,7 @@ public:
k_param_flight_mode5,
k_param_flight_mode6,
k_param_simple_modes,
k_param_flight_mode_chan,
//
// 210: Waypoint data
@ -432,6 +433,7 @@ public:
AP_Int8 flight_mode5;
AP_Int8 flight_mode6;
AP_Int8 simple_modes;
AP_Int8 flight_mode_chan;
// Misc
//

4
ArduCopter/config.h
View File

@ -586,3 +586,7 @@
#ifndef ADVANCED_FAILSAFE
# define ADVANCED_FAILSAFE DISABLED
#endif
#ifndef CH_MODE_DEFAULT
#define CH_MODE_DEFAULT CH_5
#endif

17
ArduCopter/switches.cpp
View File

@ -15,16 +15,21 @@ struct {
void Copter::read_control_switch()
{
if (g.flight_mode_chan <= 0) {
// no flight mode channel
return;
}
uint32_t tnow_ms = millis();
// calculate position of flight mode switch
int8_t switch_position;
uint16_t rc5_in = RC_Channels::rc_channel(CH_5)->get_radio_in();
if (rc5_in < 1231) switch_position = 0;
else if (rc5_in < 1361) switch_position = 1;
else if (rc5_in < 1491) switch_position = 2;
else if (rc5_in < 1621) switch_position = 3;
else if (rc5_in < 1750) switch_position = 4;
uint16_t mode_in = RC_Channels::rc_channel(g.flight_mode_chan-1)->get_radio_in();
if (mode_in < 1231) switch_position = 0;
else if (mode_in < 1361) switch_position = 1;
else if (mode_in < 1491) switch_position = 2;
else if (mode_in < 1621) switch_position = 3;
else if (mode_in < 1750) switch_position = 4;
else switch_position = 5;
// store time that switch last moved