mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.5 KiB
Plaintext
114 lines
3.5 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void read_control_switch()
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{
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static bool switch_debouncer;
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uint8_t switchPosition = readSwitch();
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// If switchPosition = 255 this indicates that the mode control channel input was out of range
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// If we get this value we do not want to change modes.
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if(switchPosition == 255) return;
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if (failsafe.ch3_failsafe || failsafe.ch3_counter > 0) {
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// when we are in ch3_failsafe mode then RC input is not
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// working, and we need to ignore the mode switch channel
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return;
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}
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if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 100) {
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// only use signals that are less than 0.1s old.
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return;
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}
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// we look for changes in the switch position. If the
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// RST_SWITCH_CH parameter is set, then it is a switch that can be
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// used to force re-reading of the control switch. This is useful
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// when returning to the previous mode after a failsafe or fence
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// breach. This channel is best used on a momentary switch (such
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// as a spring loaded trainer switch).
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if (oldSwitchPosition != switchPosition ||
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(g.reset_switch_chan != 0 &&
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hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
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if (switch_debouncer == false) {
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// this ensures that mode switches only happen if the
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// switch changes for 2 reads. This prevents momentary
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// spikes in the mode control channel from causing a mode
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// switch
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switch_debouncer = true;
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return;
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}
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set_mode((enum FlightMode)(flight_modes[switchPosition].get()));
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oldSwitchPosition = switchPosition;
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prev_WP_loc = current_loc;
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}
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if (g.reset_mission_chan != 0 &&
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hal.rcin->read(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) {
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mission.start();
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prev_WP_loc = current_loc;
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}
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switch_debouncer = false;
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if (g.inverted_flight_ch != 0) {
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// if the user has configured an inverted flight channel, then
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// fly upside down when that channel goes above INVERTED_FLIGHT_PWM
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inverted_flight = (control_mode != MANUAL && hal.rcin->read(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM);
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}
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}
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static uint8_t readSwitch(void)
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{
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uint16_t pulsewidth = hal.rcin->read(g.flight_mode_channel - 1);
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if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition
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if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
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if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
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if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
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if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
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if (pulsewidth >= 1750) return 5; // Hardware Manual
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return 0;
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}
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static void reset_control_switch()
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{
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oldSwitchPosition = 254;
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read_control_switch();
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}
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/*
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called when entering autotune
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*/
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static void autotune_start(void)
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{
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rollController.autotune_start();
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pitchController.autotune_start();
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}
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/*
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called when exiting autotune
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*/
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static void autotune_restore(void)
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{
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rollController.autotune_restore();
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pitchController.autotune_restore();
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}
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/*
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are we flying inverted?
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*/
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static bool fly_inverted(void)
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{
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if (g.inverted_flight_ch != 0 && inverted_flight) {
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// controlled with INVERTED_FLIGHT_CH
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return true;
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}
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if (control_mode == AUTO && auto_state.inverted_flight) {
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return true;
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}
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return false;
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}
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