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AP_Tuning: allow for tuning with no selector switch 

this makes tuning with a single parameter possible
This commit is contained in:
Andrew Tridgell 2016-05-08 13:47:48 +10:00
parent f69806deff
commit 8a65481551
1 changed files with 8 additions and 5 deletions
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13
libraries/AP_Tuning/AP_Tuning.cpp
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@ -31,7 +31,7 @@ const AP_Param::GroupInfo AP_Tuning::var_info[] = {
// @Param: SELECTOR
// @DisplayName: Transmitter tuning selector channel
// @Description: This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low.
// @Description: This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob
// @Values: 0:Disable,1:Chan1,2:Chan3,3:Chan3,4:Chan4,5:Chan5,6:Chan6,7:Chan7,8:Chan8,9:Chan9,10:Chan10,11:Chan11,12:Chan12,13:Chan13,14:Chan14,15:Chan15,16:Chan16
// @User: Standard
AP_GROUPINFO("SELECTOR", 6, AP_Tuning, selector, 0),
@ -58,6 +58,10 @@ const AP_Param::GroupInfo AP_Tuning::var_info[] = {
*/
void AP_Tuning::check_selector_switch(void)
{
if (selector == 0) {
// no selector switch enabled
return;
}
RC_Channel *selchan = RC_Channel::rc_channel(selector-1);
if (selchan == nullptr) {
return;
@ -112,7 +116,7 @@ void AP_Tuning::re_center(void)
*/
void AP_Tuning::check_input(uint8_t flightmode)
{
if (channel <= 0 || selector <= 0 || parmset <= 0) {
if (channel <= 0 || parmset <= 0) {
// disabled
return;
}
@ -135,9 +139,8 @@ void AP_Tuning::check_input(uint8_t flightmode)
}
last_check_ms = now;
if (channel > hal.rcin->num_channels() ||
selector > hal.rcin->num_channels()) {
// not valid channels
if (channel > hal.rcin->num_channels()) {
// not valid channel
return;
}