ardupilot/ArduCopterMega/control_modes.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
void read_control_switch()
{
byte switchPosition = readSwitch();
//motor_armed = (switchPosition < 5);
if (oldSwitchPosition != switchPosition){
set_mode(g.flight_modes[switchPosition]);
oldSwitchPosition = switchPosition;
prev_WP = current_loc;
// reset navigation integrators
// -------------------------
reset_I();
}
}
byte readSwitch(void){
#if FLIGHT_MODE_CHANNEL == CH_5
int pulsewidth = g.rc_5.radio_in; // default for Arducopter
#elif FLIGHT_MODE_CHANNEL == CH_6
int pulsewidth = g.rc_6.radio_in; //
#elif FLIGHT_MODE_CHANNEL == CH_7
int pulsewidth = g.rc_7.radio_in; //
#elif FLIGHT_MODE_CHANNEL == CH_8
int pulsewidth = g.rc_8.radio_in; // default for Ardupilot. Don't use for Arducopter! it has a hardware failsafe mux!
#else
# error Must define FLIGHT_MODE_CHANNEL as CH_5 - CH_8
#endif
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;
}
void reset_control_switch()
{
oldSwitchPosition = -1;
read_control_switch();
SendDebug("MSG: reset_control_switch");
SendDebugln(oldSwitchPosition , DEC);
}
void update_servo_switches()
{
}
boolean trim_flag;
unsigned long trim_timer;
// read at 10 hz
// set this to your trainer switch
void read_trim_switch()
{
// switch is engaged
if (g.rc_7.control_in > 800){
if(trim_flag == false){
// called once
trim_timer = millis();
}
trim_flag = true;
trim_accel();
}else{ // switch is disengaged
if(trim_flag){
// switch was just released
if((millis() - trim_timer) > 2000){
#if HIL_MODE != HIL_MODE_ATTITUDE
imu.save();
#endif
}else{
// set the throttle nominal
if(g.rc_3.control_in > 50){
g.throttle_cruise.set(g.rc_3.control_in);
Serial.printf("tnom %d\n", g.throttle_cruise.get());
//save_EEPROM_throttle_cruise();
g.throttle_cruise.save();
}
// this is a test for Max's tri-copter
if(g.frame_type == TRI_FRAME){
g.rc_4.trim(); // yaw
g.rc_4.save_eeprom();
}
}
trim_flag = false;
}
}
}
void trim_accel()
{
if(g.rc_1.control_in > 0){
imu.ay(imu.ay() + 1);
}else if (g.rc_1.control_in < 0){
imu.ay(imu.ay() - 1);
}
if(g.rc_2.control_in > 0){
imu.ax(imu.ax() + 1);
}else if (g.rc_2.control_in < 0){
imu.ax(imu.ax() - 1);
}
Serial.printf("r:%ld p:%ld ax:%d, ay:%d, az:%d\n", dcm.roll_sensor, dcm.pitch_sensor, imu.ax(), imu.ay(), imu.az());
}