mirror of https://github.com/ArduPilot/ardupilot
84 lines
1.9 KiB
Plaintext
84 lines
1.9 KiB
Plaintext
void read_control_switch()
|
|
{
|
|
byte switchPosition = readSwitch();
|
|
if (oldSwitchPosition != switchPosition){
|
|
|
|
set_mode(g.flight_modes[switchPosition]);
|
|
|
|
oldSwitchPosition = switchPosition;
|
|
prev_WP = current_loc;
|
|
|
|
// reset navigation integrators
|
|
// -------------------------
|
|
reset_I();
|
|
}
|
|
}
|
|
|
|
byte readSwitch(void){
|
|
uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1);
|
|
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 = 0;
|
|
read_control_switch();
|
|
SendDebug_P("MSG: reset_control_switch");
|
|
SendDebugln(oldSwitchPosition , DEC);
|
|
}
|
|
|
|
void update_servo_switches()
|
|
{
|
|
// up is reverse
|
|
// up is elevon
|
|
mix_mode = (PINL & 128) ? 1 : 0;
|
|
if (mix_mode == 0) {
|
|
reverse_roll = (PINE & 128) ? true : false;
|
|
reverse_pitch = (PINE & 64) ? true : false;
|
|
reverse_rudder = (PINL & 64) ? true : false;
|
|
} else {
|
|
reverse_elevons = (PINE & 128) ? -1 : 1;
|
|
reverse_ch1_elevon = (PINE & 64) ? -1 : 1;
|
|
reverse_ch2_elevon = (PINL & 64) ? -1 : 1;
|
|
}
|
|
}
|
|
|
|
|
|
bool 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;
|
|
|
|
}else{ // switch is disengaged
|
|
|
|
if(trim_flag){
|
|
// switch was just released
|
|
if((millis() - trim_timer) > 2000){
|
|
|
|
g.throttle_cruise.set_and_save(g.channel_throttle.control_in);
|
|
g.angle_of_attack.set_and_save(dcm.pitch_sensor);
|
|
g.airspeed_cruise.set_and_save(airspeed);
|
|
|
|
} else {
|
|
|
|
}
|
|
trim_flag = false;
|
|
}
|
|
}
|
|
}
|