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added ch7 option to reset yaw back to what it was when quad was armed

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This commit is contained in:
Dr Gareth Owen 2013-05-20 20:26:39 +01:00 committed by Randy Mackay
parent db552adf02
commit e9d640ced8
4 changed files with 18 additions and 4 deletions
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7
ArduCopter/ArduCopter.pde
View File

@ -1376,6 +1376,8 @@ bool set_yaw_mode(uint8_t new_yaw_mode)
}
switch( new_yaw_mode ) {
case YAW_RESETTOARMEDYAW:
nav_yaw = ahrs.yaw_sensor; // store current yaw so we can start rotating back to correct one
case YAW_HOLD:
case YAW_ACRO:
yaw_initialised = true;
@ -1448,6 +1450,11 @@ void update_yaw_mode(void)
}
break;
case YAW_RESETTOARMEDYAW:
nav_yaw = get_yaw_slew(nav_yaw, initial_simple_bearing, AUTO_YAW_SLEW_RATE);
get_stabilize_yaw(nav_yaw);
break;
case YAW_LOOK_AT_NEXT_WP:
// point towards next waypoint (no pilot input accepted)
// we don't use wp_bearing because we don't want the copter to turn too much during flight

4
ArduCopter/Parameters.pde
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@ -409,14 +409,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 12:ResetToArmedYaw
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 12:ResetToArmedYaw
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),

7
ArduCopter/control_modes.pde
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@ -91,6 +91,13 @@ static void do_aux_switch_function(int8_t ch_function, bool ch_flag)
}
switch(tmp_function) {
case AUX_SWITCH_RESETTOARMEDYAW:
if(ch_flag)
set_yaw_mode(YAW_RESETTOARMEDYAW);
else
set_yaw_mode(YAW_HOLD);
break;
case AUX_SWITCH_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if(ch_flag && g.rc_3.control_in >= 0 && ap.takeoff_complete) {

4
ArduCopter/defines.h
View File

@ -24,7 +24,7 @@
#define YAW_LOOK_AT_HEADING 6 // point towards a particular angle (not pilot input accepted)
#define YAW_LOOK_AHEAD 7 // WARNING! CODE IN DEVELOPMENT NOT PROVEN
#define YAW_TOY 8 // THOR This is the Yaw mode
#define YAW_RESETTOARMEDYAW 9
#define ROLL_PITCH_STABLE 0 // pilot input roll, pitch angles
#define ROLL_PITCH_ACRO 1 // pilot inputs roll, pitch rotation rates
@ -61,7 +61,7 @@
#define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay
#define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight
#define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed
// Frame types