mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.7 KiB
Plaintext
78 lines
2.7 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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byte 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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// 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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APM_RC.InputCh(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
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set_mode(flight_modes[switchPosition]);
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oldSwitchPosition = switchPosition;
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prev_WP = current_loc;
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// reset navigation integrators
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// -------------------------
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reset_I();
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}
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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 && APM_RC.InputCh(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM);
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}
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}
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static byte readSwitch(void){
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uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1);
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if (pulsewidth <= 910 || pulsewidth >= 2090) 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 = 0;
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read_control_switch();
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}
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static void update_servo_switches()
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{
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#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2
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if (!g.switch_enable) {
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// switches are disabled in EEPROM (see SWITCH_ENABLE option)
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// this means the EEPROM control of all channel reversal is enabled
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return;
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}
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// up is reverse
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// up is elevon
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g.mix_mode = (PINL & 128) ? 1 : 0; // 1 for elevon mode
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if (g.mix_mode == 0) {
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g.channel_roll.set_reverse((PINE & 128) ? true : false);
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g.channel_pitch.set_reverse((PINE & 64) ? true : false);
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g.channel_rudder.set_reverse((PINL & 64) ? true : false);
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} else {
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g.reverse_elevons = (PINE & 128) ? true : false;
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g.reverse_ch1_elevon = (PINE & 64) ? true : false;
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g.reverse_ch2_elevon = (PINL & 64) ? true : false;
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}
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#endif
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}
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