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Added ability to dynamically set wp with toggle switch

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This commit is contained in:
Jason Short 2011-10-18 17:59:45 -07:00
parent 4b7d52b233
commit d551494b94
2 changed files with 17 additions and 0 deletions
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16
ArduCopter/control_modes.pde
View File

@ -92,6 +92,22 @@ static void read_trim_switch()
}
}
#elif CH7_OPTION == CH7_SAVE_WP
if (g.rc_7.control_in > 800){
trim_flag = true;
}else{ // switch is disengaged
if(trim_flag){
// set the next_WP
CH7_wp_index++;
current_loc.id = MAV_CMD_NAV_WAYPOINT;
g.waypoint_total.set_and_save(CH7_wp_index);
set_command_with_index(current_loc, CH7_wp_index);
}
}
#elif CH7_OPTION == CH7_ADC_FILTER
if (g.rc_7.control_in > 800){
adc.filter_result = true;

1
ArduCopter/defines.h
View File

@ -37,6 +37,7 @@
#define CH7_RTL 4
#define CH7_AUTO_TRIM 5
#define CH7_ADC_FILTER 6
#define CH7_SAVE_WP 7
// Frame types
#define QUAD_FRAME 0