mirror of https://github.com/ArduPilot/ardupilot
117 lines
3.8 KiB
Plaintext
117 lines
3.8 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
static void read_control_switch()
|
|
{
|
|
|
|
byte switchPosition = readSwitch();
|
|
|
|
// If switchPosition = 255 this indicates that the mode control channel input was out of range
|
|
// If we get this value we do not want to change modes.
|
|
if(switchPosition == 255) return;
|
|
|
|
// we look for changes in the switch position. If the
|
|
// RST_SWITCH_CH parameter is set, then it is a switch that can be
|
|
// used to force re-reading of the control switch. This is useful
|
|
// when returning to the previous mode after a failsafe or fence
|
|
// breach. This channel is best used on a momentary switch (such
|
|
// as a spring loaded trainer switch).
|
|
if (oldSwitchPosition != switchPosition ||
|
|
(g.reset_switch_chan != 0 &&
|
|
APM_RC.InputCh(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
|
|
|
|
set_mode(flight_modes[switchPosition]);
|
|
|
|
oldSwitchPosition = switchPosition;
|
|
prev_WP = current_loc;
|
|
|
|
// reset navigation integrators
|
|
// -------------------------
|
|
reset_I();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
static byte readSwitch(void){
|
|
uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1);
|
|
if (pulsewidth <= 910 || pulsewidth >= 2090) return 255; // This is an error condition
|
|
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
|
|
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
|
|
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
|
|
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
|
|
if (pulsewidth >= 1750) return 5; // Hardware Manual
|
|
return 0;
|
|
}
|
|
|
|
static void reset_control_switch()
|
|
{
|
|
oldSwitchPosition = 0;
|
|
read_control_switch();
|
|
}
|
|
|
|
#define CH_7_PWM_TRIGGER 1800
|
|
|
|
// read at 10 hz
|
|
// set this to your trainer switch
|
|
static void read_trim_switch()
|
|
{
|
|
if (g.ch7_option == CH7_SAVE_WP) { // set to 1
|
|
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
|
|
trim_flag = true;
|
|
} else { // switch is disengaged
|
|
if(trim_flag) {
|
|
trim_flag = false;
|
|
|
|
if (control_mode == MANUAL) {
|
|
// if SW7 is ON in MANUAL = Erase the Flight Plan
|
|
CH7_wp_index = 0;
|
|
g.command_total.set_and_save(CH7_wp_index);
|
|
g.command_total = 0;
|
|
g.command_index =0;
|
|
nav_command_index = 0;
|
|
if(g.channel_roll.control_in > 3000) // if roll is full right store the current location as home
|
|
ground_start_count = 5;
|
|
CH7_wp_index = 1;
|
|
return;
|
|
} else if (control_mode == LEARNING) {
|
|
// if SW7 is ON in LEARNING = record the Wp
|
|
// set the next_WP (home is stored at 0)
|
|
CH7_wp_index = constrain(CH7_wp_index, 1, MAX_WAYPOINTS);
|
|
|
|
current_loc.id = MAV_CMD_NAV_WAYPOINT;
|
|
|
|
// store the index
|
|
g.command_total.set_and_save(CH7_wp_index);
|
|
g.command_total = CH7_wp_index;
|
|
g.command_index = CH7_wp_index;
|
|
nav_command_index = 0;
|
|
|
|
// save command
|
|
set_cmd_with_index(current_loc, CH7_wp_index);
|
|
|
|
// increment index
|
|
CH7_wp_index++;
|
|
|
|
} else if (control_mode == AUTO) {
|
|
// if SW7 is ON in AUTO = set to RTL
|
|
set_mode(RTL);
|
|
}
|
|
}
|
|
}
|
|
} else if (g.ch7_option == CH7_RTL) {
|
|
// set to 6
|
|
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
|
|
// switch is engaged
|
|
trim_flag = true;
|
|
} else { // switch is disengaged
|
|
if (trim_flag) {
|
|
trim_flag = false;
|
|
if (control_mode == LEARNING) {
|
|
set_mode(RTL);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|