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CH7 with params

This commit is contained in:
Jason Short 2011-11-26 13:21:16 -08:00 committed by Jason Short
parent ec5b080167
commit d0af4e7200
1 changed files with 34 additions and 30 deletions
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64
ArduCopter/control_modes.pde
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@ -52,24 +52,8 @@ static void read_trim_switch()
}
#elif CH7_OPTION == CH7_SIMPLE_MODE
do_simple = (g.rc_7.control_in > 800);
//Serial.println(g.rc_7.control_in, DEC);
#elif CH7_OPTION == CH7_RTL
static bool ch7_rtl_flag = false;
if (ch7_rtl_flag == false && g.rc_7.control_in > 800){
ch7_rtl_flag = true;
set_mode(RTL);
}
if (ch7_rtl_flag == true && g.rc_7.control_in < 800){
ch7_rtl_flag = false;
if (control_mode == RTL || control_mode == LOITER){
reset_control_switch();
}
}
#elif CH7_OPTION == CH7_SET_HOVER
// switch is engaged
if (g.rc_7.control_in > 800){
@ -88,12 +72,43 @@ static void read_trim_switch()
}
}
#elif CH7_OPTION == CH7_SAVE_WP
#elif CH7_OPTION == CH7_ADC_FILTER
if (g.rc_7.control_in > 800){
adc.filter_result = true;
}else{
adc.filter_result = false;
}
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){
auto_level_counter = 10;
}
#else
// this is the normal operation set by the mission planner
if(g.ch7_option == CH7_SIMPLE_MODE){
do_simple = (g.rc_7.control_in > 800);
}else if (g.ch7_option == CH7_RTL){
if (trim_flag == false && g.rc_7.control_in > 800){
trim_flag = true;
set_mode(RTL);
}
if (trim_flag == true && g.rc_7.control_in < 800){
trim_flag = false;
if (control_mode == RTL || control_mode == LOITER){
reset_control_switch();
}
}
}else if (g.ch7_option == CH7_SAVE_WP){
if (g.rc_7.control_in > 800){ // switch is engaged
trim_flag = true;
}else{ // switch is disengaged
if(trim_flag){
trim_flag = false;
// increment index
@ -113,18 +128,7 @@ static void read_trim_switch()
g.command_total.set_and_save(CH7_wp_index + 1);
}
}
#elif CH7_OPTION == CH7_ADC_FILTER
if (g.rc_7.control_in > 800){
adc.filter_result = true;
}else{
adc.filter_result = false;
}
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){
auto_level_counter = 10;
}
}
#endif
}