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ACM : CH_7 multimode option added

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This commit is contained in:
Jason Short 2012-08-11 22:27:04 -07:00
parent 609d5cd1d4
commit 9134271073
1 changed files with 18 additions and 12 deletions
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30
ArduCopter/control_modes.pde
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@ -45,18 +45,24 @@ static void reset_control_switch()
// set this to your trainer switch
static void read_trim_switch()
{
/*
// this is the normal operation set by the mission planner
if (g.rc_6.radio_in < CH_6_PWM_TRIGGER){
g.ch7_option = CH7_FLIP;
}else{
g.ch7_option = CH7_SAVE_WP;
}*/
int8_t option;
if(g.ch7_option == CH7_SIMPLE_MODE){
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;
}
if(option == CH7_SIMPLE_MODE){
do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (g.ch7_option == CH7_FLIP){
}else if (option == CH7_FLIP){
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
CH7_flag = true;
@ -69,7 +75,7 @@ static void read_trim_switch()
CH7_flag = false;
}
}else if (g.ch7_option == CH7_RTL){
}else if (option == CH7_RTL){
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
CH7_flag = true;
set_mode(RTL);
@ -82,7 +88,7 @@ static void read_trim_switch()
}
}
}else if (g.ch7_option == CH7_SAVE_WP){
}else if (option == CH7_SAVE_WP){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
CH7_flag = true;
@ -141,7 +147,7 @@ static void read_trim_switch()
// 3 = command total
}
}
}else if (g.ch7_option == CH7_AUTO_TRIM){
}else if (option == CH7_AUTO_TRIM){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
auto_level_counter = 10;
}