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ACM control modes - renames CH_7 flag

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This commit is contained in:
Jason Short 2012-08-09 16:49:22 -07:00
parent 3e57f8afd8
commit 26e3d6090e
1 changed files with 17 additions and 40 deletions
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57
ArduCopter/control_modes.pde
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@ -41,63 +41,42 @@ static void reset_control_switch()
read_control_switch();
}
#define CH_7_PWM_TRIGGER 1800
// read at 10 hz
// set this to your trainer switch
static void read_trim_switch()
{
#if CH7_OPTION == CH7_SET_HOVER
// switch is engaged
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true;
}else{ // switch is disengaged
if(trim_flag){
trim_flag = false;
// set the throttle nominal
if(g.rc_3.control_in > 150){
g.throttle_cruise.set_and_save(g.rc_3.control_in);
//Serial.printf("tnom %d\n", g.throttle_cruise.get());
}
}
}
#else
/*
// this is the normal operation set by the mission planner
if (g.rc_6.radio_in < CH_6_PWM_TRIGGER){
g.ch7_option = CH7_FLIP;
}else{
g.ch7_option = CH7_SAVE_WP;
}*/
if(g.ch7_option == CH7_SIMPLE_MODE){
do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (g.ch7_option == CH7_FLIP){
if (trim_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true;
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
CH7_flag = true;
// don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff
if(g.rc_3.control_in != 0 && takeoff_complete){
init_flip();
}
}
if (trim_flag == true && g.rc_7.control_in < 800){
trim_flag = false;
if (CH7_flag == true && g.rc_7.control_in < 800){
CH7_flag = false;
}
//if (g.rc_7.radio_in > CH_7_PWM_TRIGGER && takeoff_complete && g.rc_3.control_in != 0){
// if(do_flip == false)
// init_flip();
//}
}else if (g.ch7_option == CH7_RTL){
if (trim_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true;
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
CH7_flag = true;
set_mode(RTL);
}
if (trim_flag == true && g.rc_7.control_in < 800){
trim_flag = false;
if (CH7_flag == true && g.rc_7.control_in < 800){
CH7_flag = false;
if (control_mode == RTL || control_mode == LOITER){
reset_control_switch();
}
@ -105,11 +84,11 @@ static void read_trim_switch()
}else if (g.ch7_option == CH7_SAVE_WP){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
trim_flag = true;
CH7_flag = true;
}else{ // switch is disengaged
if(trim_flag){
trim_flag = false;
if(CH7_flag){
CH7_flag = false;
if(control_mode == AUTO){
// reset the mission
@ -167,8 +146,6 @@ static void read_trim_switch()
auto_level_counter = 10;
}
}
#endif
}
static void auto_trim()