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Copter: AUTO ch7/ch8 option

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Randy Mackay 2013-08-19 18:09:23 +09:00
parent 2696e160e6
commit fd047cc968
3 changed files with 8 additions and 12 deletions
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4
ArduCopter/Parameters.pde
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@ -412,14 +412,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: CH7_OPT // @Param: CH7_OPT
// @DisplayName: Channel 7 option // @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm // @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, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer // @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, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto
// @User: Standard // @User: Standard
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION), GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
// @Param: CH8_OPT // @Param: CH8_OPT
// @DisplayName: Channel 8 option // @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm // @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, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer // @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, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto
// @User: Standard // @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION), GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),

14
ArduCopter/control_modes.pde
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@ -262,6 +262,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
g.acro_trainer = ACRO_TRAINER_LIMITED; g.acro_trainer = ACRO_TRAINER_LIMITED;
break; break;
} }
break;
#if SPRAYER == ENABLED #if SPRAYER == ENABLED
case AUX_SWITCH_SPRAYER: case AUX_SWITCH_SPRAYER:
@ -269,16 +270,11 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break; break;
#endif #endif
case AUX_SWITCH_AUTO_AND_LAND: case AUX_SWITCH_AUTO:
switch(ch_flag) { if (ch_flag == AUX_SWITCH_HIGH) {
case AUX_SWITCH_LOW: set_mode(AUTO);
case AUX_SWITCH_MIDDLE:
set_mode(LAND);
break;
case AUX_SWITCH_HIGH:
set_mode(AUTO);
break;
} }
break;
} }
} }

2
ArduCopter/defines.h
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@ -67,7 +67,7 @@
#define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top #define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top
#define AUX_SWITCH_ACRO_TRAINER 14 // low = disabled, middle = leveled, high = leveled and limited #define AUX_SWITCH_ACRO_TRAINER 14 // low = disabled, middle = leveled, high = leveled and limited
#define AUX_SWITCH_SPRAYER 15 // enable/disable the crop sprayer #define AUX_SWITCH_SPRAYER 15 // enable/disable the crop sprayer
#define AUX_SWITCH_AUTO_AND_LAND 16 // switch enabled auto (high) or land (low) flight modes #define AUX_SWITCH_AUTO 16 // change to auto flight mode
// values used by the ap.ch7_opt and ap.ch8_opt flags // values used by the ap.ch7_opt and ap.ch8_opt flags
#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200) #define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)