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ACM control modes - renames CH_7 flag

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This commit is contained in:
Jason Short 2012-08-09 16:49:22 -07:00
parent 168b755d0b
commit a85cee34e7
1 changed files with 17 additions and 40 deletions
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57
ArduCopter/control_modes.pde
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@ -41,63 +41,42 @@ static void reset_control_switch()
read_control_switch(); read_control_switch();
} }
#define CH_7_PWM_TRIGGER 1800
// read at 10 hz // read at 10 hz
// set this to your trainer switch // set this to your trainer switch
static void read_trim_switch() static void read_trim_switch()
{ {
#if CH7_OPTION == CH7_SET_HOVER /*
// switch is engaged
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true;
}else{ // switch is disengaged
if(trim_flag){
trim_flag = false;
// set the throttle nominal
if(g.rc_3.control_in > 150){
g.throttle_cruise.set_and_save(g.rc_3.control_in);
//Serial.printf("tnom %d\n", g.throttle_cruise.get());
}
}
}
#else
// this is the normal operation set by the mission planner // 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;
}*/
if(g.ch7_option == CH7_SIMPLE_MODE){ if(g.ch7_option == CH7_SIMPLE_MODE){
do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER); do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (g.ch7_option == CH7_FLIP){ }else if (g.ch7_option == CH7_FLIP){
if (trim_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){ if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true; CH7_flag = true;
// don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff // don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff
if(g.rc_3.control_in != 0 && takeoff_complete){ if(g.rc_3.control_in != 0 && takeoff_complete){
init_flip(); init_flip();
} }
} }
if (trim_flag == true && g.rc_7.control_in < 800){ if (CH7_flag == true && g.rc_7.control_in < 800){
trim_flag = false; CH7_flag = false;
} }
//if (g.rc_7.radio_in > CH_7_PWM_TRIGGER && takeoff_complete && g.rc_3.control_in != 0){
// if(do_flip == false)
// init_flip();
//}
}else if (g.ch7_option == CH7_RTL){ }else if (g.ch7_option == CH7_RTL){
if (trim_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){ if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true; CH7_flag = true;
set_mode(RTL); set_mode(RTL);
} }
if (trim_flag == true && g.rc_7.control_in < 800){ if (CH7_flag == true && g.rc_7.control_in < 800){
trim_flag = false; CH7_flag = false;
if (control_mode == RTL || control_mode == LOITER){ if (control_mode == RTL || control_mode == LOITER){
reset_control_switch(); reset_control_switch();
} }
@ -105,11 +84,11 @@ static void read_trim_switch()
}else if (g.ch7_option == CH7_SAVE_WP){ }else if (g.ch7_option == CH7_SAVE_WP){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
trim_flag = true; CH7_flag = true;
}else{ // switch is disengaged }else{ // switch is disengaged
if(trim_flag){ if(CH7_flag){
trim_flag = false; CH7_flag = false;
if(control_mode == AUTO){ if(control_mode == AUTO){
// reset the mission // reset the mission
@ -167,8 +146,6 @@ static void read_trim_switch()
auto_level_counter = 10; auto_level_counter = 10;
} }
} }
#endif
} }
static void auto_trim() static void auto_trim()