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ardupilot/ArduCopter/control_modes.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define CONTROL_SWITCH_COUNTER 20 // 20 iterations at 100hz (i.e. 2/10th of a second) at a new switch position will cause flight mode change
static void read_control_switch()
{
static uint8_t switch_counter = 0;
uint8_t switchPosition = readSwitch();
// has switch moved?
// ignore flight mode changes if in failsafe
if (oldSwitchPosition != switchPosition && !failsafe.radio && failsafe.radio_counter == 0) {
switch_counter++;
if(switch_counter >= CONTROL_SWITCH_COUNTER) {
oldSwitchPosition = switchPosition;
switch_counter = 0;
// set flight mode and simple mode setting
if (set_mode(flight_modes[switchPosition])) {
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE && g.ch7_option != AUX_SWITCH_SUPERSIMPLE_MODE && g.ch8_option != AUX_SWITCH_SUPERSIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
if (BIT_IS_SET(g.super_simple, switchPosition)) {
set_simple_mode(2);
}else{
set_simple_mode(BIT_IS_SET(g.simple_modes, switchPosition));
}
}
}
}
}else{
// reset switch_counter if there's been no change
// we don't want 10 intermittant blips causing a flight mode change
switch_counter = 0;
}
}
static uint8_t readSwitch(void){
int16_t pulsewidth = g.rc_5.radio_in; // default for Arducopter
if (pulsewidth < 1231) return 0;
if (pulsewidth < 1361) return 1;
if (pulsewidth < 1491) return 2;
if (pulsewidth < 1621) return 3;
if (pulsewidth < 1750) return 4; // Software Manual
return 5; // Hardware Manual
}
static void reset_control_switch()
{
oldSwitchPosition = -1;
read_control_switch();
}
// read_3pos_switch
static uint8_t read_3pos_switch(int16_t radio_in){
if (radio_in < AUX_SWITCH_PWM_TRIGGER_LOW) return AUX_SWITCH_LOW; // switch is in low position
if (radio_in > AUX_SWITCH_PWM_TRIGGER_HIGH) return AUX_SWITCH_HIGH; // switch is in high position
return AUX_SWITCH_MIDDLE; // switch is in middle position
}
// read_aux_switches - checks aux switch positions and invokes configured actions
static void read_aux_switches()
{
uint8_t switch_position;
// exit immediately during radio failsafe
if (failsafe.radio || failsafe.radio_counter != 0) {
return;
}
// check if ch7 switch has changed position
switch_position = read_3pos_switch(g.rc_7.radio_in);
if (ap.CH7_flag != switch_position) {
// set the CH7 flag
ap.CH7_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch7_option, ap.CH7_flag);
}
// check if Ch8 switch has changed position
switch_position = read_3pos_switch(g.rc_8.radio_in);
if (ap.CH8_flag != switch_position) {
// set the CH8 flag
ap.CH8_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch8_option, ap.CH8_flag);
}
}
// init_aux_switches - invoke configured actions at start-up for aux function where it is safe to do so
static void init_aux_switches()
{
// set the CH7 flag
ap.CH7_flag = read_3pos_switch(g.rc_7.radio_in);
ap.CH8_flag = read_3pos_switch(g.rc_8.radio_in);
// init channel 7 options
switch(g.ch7_option) {
case AUX_SWITCH_SIMPLE_MODE:
case AUX_SWITCH_SONAR:
case AUX_SWITCH_FENCE:
case AUX_SWITCH_RESETTOARMEDYAW:
case AUX_SWITCH_SUPERSIMPLE_MODE:
case AUX_SWITCH_ACRO_TRAINER:
case AUX_SWITCH_EPM:
case AUX_SWITCH_SPRAYER:
do_aux_switch_function(g.ch7_option, ap.CH7_flag);
break;
}
// init channel 8 option
switch(g.ch8_option) {
case AUX_SWITCH_SIMPLE_MODE:
case AUX_SWITCH_SONAR:
case AUX_SWITCH_FENCE:
case AUX_SWITCH_RESETTOARMEDYAW:
case AUX_SWITCH_SUPERSIMPLE_MODE:
case AUX_SWITCH_ACRO_TRAINER:
case AUX_SWITCH_EPM:
case AUX_SWITCH_SPRAYER:
do_aux_switch_function(g.ch8_option, ap.CH8_flag);
break;
}
}
// do_aux_switch_function - implement the function invoked by the ch7 or ch8 switch
static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
{
int8_t tmp_function = ch_function;
// multi mode check
if(ch_function == AUX_SWITCH_MULTI_MODE) {
if (g.rc_6.radio_in < CH6_PWM_TRIGGER_LOW) {
tmp_function = AUX_SWITCH_FLIP;
}else if (g.rc_6.radio_in > CH6_PWM_TRIGGER_HIGH) {
tmp_function = AUX_SWITCH_SAVE_WP;
}else{
tmp_function = AUX_SWITCH_RTL;
}
}
switch(tmp_function) {
case AUX_SWITCH_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if((ch_flag == AUX_SWITCH_HIGH) && (g.rc_3.control_in >= 0) && ap.takeoff_complete) {
init_flip();
}
break;
case AUX_SWITCH_SIMPLE_MODE:
// low = simple mode off, middle or high position turns simple mode on
set_simple_mode(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
break;
case AUX_SWITCH_SUPERSIMPLE_MODE:
// low = simple mode off, middle = simple mode, high = super simple mode
set_simple_mode(ch_flag);
break;
case AUX_SWITCH_RTL:
if (ch_flag == AUX_SWITCH_HIGH) {
// engage RTL (if not possible we remain in current flight mode)
set_mode(RTL);
}else{
// return to flight mode switch's flight mode if we are currently in RTL
if (control_mode == RTL) {
reset_control_switch();
}
}
break;
case AUX_SWITCH_SAVE_TRIM:
if ((ch_flag == AUX_SWITCH_HIGH) && (control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
save_trim();
}
break;
case AUX_SWITCH_SAVE_WP:
// save waypoint when switch is brought high
if (ch_flag == AUX_SWITCH_HIGH) {
// if in auto mode, reset the mission
if(control_mode == AUTO) {
aux_switch_wp_index = 0;
g.command_total.set_and_save(1);
set_mode(RTL); // if by chance we are unable to switch to RTL we just stay in AUTO and hope the GPS failsafe will take-over
Log_Write_Event(DATA_SAVEWP_CLEAR_MISSION_RTL);
return;
}
// we're on the ground
if((g.rc_3.control_in == 0) && (aux_switch_wp_index == 0)){
// nothing to do
return;
}
// initialise new waypoint to current location
Location new_wp;
if(aux_switch_wp_index == 0) {
// this is our first WP, let's save WP 1 as a takeoff
// increment index to WP index of 1 (home is stored at 0)
aux_switch_wp_index = 1;
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
new_wp.id = MAV_CMD_NAV_TAKEOFF;
new_wp.options = 0;
new_wp.p1 = 0;
new_wp.lat = 0;
new_wp.lng = 0;
new_wp.alt = max(current_loc.alt,100);
// save command:
// we use the current altitude to be the target for takeoff.
// only altitude will matter to the AP mission script for takeoff.
// If we are above the altitude, we will skip the command.
set_cmd_with_index(new_wp, aux_switch_wp_index);
}
// initialise new waypoint to current location
new_wp = current_loc;
// increment index
aux_switch_wp_index++;
// set the next_WP (home is stored at 0)
// max out at 100 since I think we need to stay under the EEPROM limit
aux_switch_wp_index = constrain_int16(aux_switch_wp_index, 1, 100);
if(g.rc_3.control_in > 0) {
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
new_wp.id = MAV_CMD_NAV_WAYPOINT;
}else{
// set our location ID to 21, MAV_CMD_NAV_LAND
new_wp.id = MAV_CMD_NAV_LAND;
}
// save command
set_cmd_with_index(new_wp, aux_switch_wp_index);
// log event
Log_Write_Event(DATA_SAVEWP_ADD_WP);
}
break;
#if CAMERA == ENABLED
case AUX_SWITCH_CAMERA_TRIGGER:
if (ch_flag == AUX_SWITCH_HIGH) {
do_take_picture();
}
break;
#endif
case AUX_SWITCH_SONAR:
// enable or disable the sonar
if (ch_flag == AUX_SWITCH_HIGH) {
g.sonar_enabled = true;
}else{
g.sonar_enabled = false;
}
break;
#if AC_FENCE == ENABLED
case AUX_SWITCH_FENCE:
// enable or disable the fence
if (ch_flag == AUX_SWITCH_HIGH) {
fence.enable(true);
Log_Write_Event(DATA_FENCE_ENABLE);
}else{
fence.enable(false);
Log_Write_Event(DATA_FENCE_DISABLE);
}
break;
#endif
case AUX_SWITCH_RESETTOARMEDYAW:
if (ch_flag == AUX_SWITCH_HIGH) {
set_yaw_mode(YAW_RESETTOARMEDYAW);
}else{
set_yaw_mode(YAW_HOLD);
}
break;
case AUX_SWITCH_ACRO_TRAINER:
switch(ch_flag) {
case AUX_SWITCH_LOW:
g.acro_trainer = ACRO_TRAINER_DISABLED;
Log_Write_Event(DATA_ACRO_TRAINER_DISABLED);
break;
case AUX_SWITCH_MIDDLE:
g.acro_trainer = ACRO_TRAINER_LEVELING;
Log_Write_Event(DATA_ACRO_TRAINER_LEVELING);
break;
case AUX_SWITCH_HIGH:
g.acro_trainer = ACRO_TRAINER_LIMITED;
Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
break;
}
break;
#if EPM_ENABLED == ENABLED
case AUX_SWITCH_EPM:
switch(ch_flag) {
case AUX_SWITCH_LOW:
epm.off();
Log_Write_Event(DATA_EPM_OFF);
break;
case AUX_SWITCH_MIDDLE:
epm.neutral();
Log_Write_Event(DATA_EPM_NEUTRAL);
break;
case AUX_SWITCH_HIGH:
epm.on();
Log_Write_Event(DATA_EPM_ON);
break;
}
break;
#endif
#if SPRAYER == ENABLED
case AUX_SWITCH_SPRAYER:
sprayer.enable(ch_flag == AUX_SWITCH_HIGH);
// if we are disarmed the pilot must want to test the pump
sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors.armed());
break;
#endif
case AUX_SWITCH_AUTO:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(AUTO);
}else{
// return to flight mode switch's flight mode if we are currently in AUTO
if (control_mode == AUTO) {
reset_control_switch();
}
}
break;
#if AUTOTUNE == ENABLED
case AUX_SWITCH_AUTOTUNE:
// turn on auto tuner
switch(ch_flag) {
case AUX_SWITCH_LOW:
case AUX_SWITCH_MIDDLE:
// turn off tuning and return to standard pids
if (roll_pitch_mode == ROLL_PITCH_AUTOTUNE) {
set_roll_pitch_mode(ROLL_PITCH_STABLE);
}
break;
case AUX_SWITCH_HIGH:
// start an auto tuning session
// set roll-pitch mode to our special auto tuning stabilize roll-pitch mode
set_roll_pitch_mode(ROLL_PITCH_AUTOTUNE);
break;
}
break;
#endif
case AUX_SWITCH_LAND:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(LAND);
}else{
// return to flight mode switch's flight mode if we are currently in LAND
if (control_mode == LAND) {
reset_control_switch();
}
}
break;
}
}
// save_trim - adds roll and pitch trims from the radio to ahrs
static void save_trim()
{
// save roll and pitch trim
float roll_trim = ToRad((float)g.rc_1.control_in/100.0f);
float pitch_trim = ToRad((float)g.rc_2.control_in/100.0f);
ahrs.add_trim(roll_trim, pitch_trim);
Log_Write_Event(DATA_SAVE_TRIM);
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
// meant to be called continuously while the pilot attempts to keep the copter level
static void auto_trim()
{
if(auto_trim_counter > 0) {
auto_trim_counter--;
// flash the leds
AP_Notify::flags.save_trim = true;
// calculate roll trim adjustment
float roll_trim_adjustment = ToRad((float)g.rc_1.control_in / 4000.0f);
// calculate pitch trim adjustment
float pitch_trim_adjustment = ToRad((float)g.rc_2.control_in / 4000.0f);
// make sure accelerometer values impact attitude quickly
ahrs.set_fast_gains(true);
// add trim to ahrs object
// save to eeprom on last iteration
ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
// on last iteration restore leds and accel gains to normal
if(auto_trim_counter == 0) {
ahrs.set_fast_gains(false);
AP_Notify::flags.save_trim = false;
}
}
}
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