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