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Copter: ch8 aux switch

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Ch8 can be used as an aux switch like ch7.  Has all the same options as
ch7 and there is a safety check to ensure both switches aren't set to
the same function so as to avoid interfering with each other
This commit is contained in:
Randy Mackay 2013-05-17 14:42:28 +09:00
parent 566daf883a
commit 38239c652a
6 changed files with 97 additions and 71 deletions
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21
ArduCopter/ArduCopter.pde
View File

@ -386,10 +386,11 @@ static union {
static struct AP_System{
uint8_t GPS_light : 1; // 1 // Solid indicates we have full 3D lock and can navigate, flash = read
uint8_t motor_light : 1; // 2 // Solid indicates Armed state
uint8_t new_radio_frame : 1; // 3 // Set true if we have new PWM data to act on from the Radio
uint8_t CH7_flag : 1; // 4 // manages state of the ch7 toggle switch
uint8_t GPS_light : 1; // 0 // Solid indicates we have full 3D lock and can navigate, flash = read
uint8_t motor_light : 1; // 1 // Solid indicates Armed state
uint8_t new_radio_frame : 1; // 2 // Set true if we have new PWM data to act on from the Radio
uint8_t CH7_flag : 1; // 3 // true if ch7 aux switch is high
uint8_t CH8_flag : 1; // 4 // true if ch8 aux switch is high
uint8_t usb_connected : 1; // 5 // true if APM is powered from USB connection
uint8_t yaw_stopped : 1; // 6 // Used to manage the Yaw hold capabilities
@ -586,11 +587,11 @@ static uint32_t loiter_time;
////////////////////////////////////////////////////////////////////////////////
// CH7 control
// CH7 and CH8 save waypoint control
////////////////////////////////////////////////////////////////////////////////
// This register tracks the current Mission Command index when writing
// a mission using CH7 in flight
static int8_t CH7_wp_index;
// a mission using Ch7 or Ch8 aux switches in flight
static int8_t aux_switch_wp_index;
////////////////////////////////////////////////////////////////////////////////
@ -1102,10 +1103,8 @@ static void medium_loop()
case 4:
medium_loopCounter = 0;
// Accel trims = hold > 2 seconds
// Throttle cruise = switch less than 1 second
// --------------------------------------------
read_trim_switch();
// check ch7 and ch8 aux switches
read_aux_switches();
// Check for engine arming
// -----------------------

4
ArduCopter/Parameters.h
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@ -82,7 +82,8 @@ public:
k_param_acro_trainer_enabled,
k_param_pilot_velocity_z_max,
k_param_circle_rate,
k_param_sonar_gain, // 30
k_param_sonar_gain,
k_param_ch8_option, // 31
// 65: AP_Limits Library
k_param_limits = 65, // deprecated - remove
@ -337,6 +338,7 @@ public:
AP_Int16 radio_tuning_low;
AP_Int8 frame_orientation;
AP_Int8 ch7_option;
AP_Int8 ch8_option;
AP_Int16 auto_slew_rate;
#if FRAME_CONFIG == HELI_FRAME

7
ArduCopter/Parameters.pde
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@ -412,6 +412,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:Sonar
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),
// @Param: AUTO_SLEW
// @DisplayName: Auto Slew Rate
// @Description: This restricts the rate of change of the roll and pitch attitude commanded by the auto pilot

7
ArduCopter/config.h
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@ -310,13 +310,16 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// Channel 7 default option
// Channel 7 and 8 default options
//
#ifndef CH7_OPTION
# define CH7_OPTION CH7_SAVE_WP
# define CH7_OPTION AUX_SWITCH_SAVE_WP
#endif
#ifndef CH8_OPTION
# define CH8_OPTION AUX_SWITCH_DO_NOTHING
#endif
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL

97
ArduCopter/control_modes.pde
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@ -17,7 +17,7 @@ static void read_control_switch()
if( !ap.failsafe_radio ) {
set_mode(flight_modes[switchPosition]);
if(g.ch7_option != CH7_SIMPLE_MODE) {
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
set_simple_mode(BIT_IS_SET(g.simple_modes, switchPosition));
@ -48,47 +48,62 @@ static void reset_control_switch()
read_control_switch();
}
// read at 10 hz
// set this to your trainer switch
static void read_trim_switch()
// read_aux_switches - checks aux switch positions and invokes configured actions
static void read_aux_switches()
{
// return immediately if the CH7 switch has not changed position
if (ap_system.CH7_flag == (g.rc_7.radio_in >= CH7_PWM_TRIGGER)) {
// check if ch7 switch has changed position
if (ap_system.CH7_flag != (g.rc_7.radio_in >= AUX_SWITCH_PWM_TRIGGER)) {
// set the ch7 flag
ap_system.CH7_flag = (g.rc_7.radio_in >= AUX_SWITCH_PWM_TRIGGER);
// invoke the appropriate function
do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
}
// safety check to ensure we ch7 and ch8 have different functions
if (g.ch7_option == g.ch8_option) {
return;
}
// set the ch7 flag
ap_system.CH7_flag = (g.rc_7.radio_in >= CH7_PWM_TRIGGER);
// check if ch8 switch has changed position
if (ap_system.CH8_flag != (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER)) {
// set the ch8 flag
ap_system.CH8_flag = (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER);
// invoke the appropriate function
do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
}
}
// multi-mode
int8_t option;
// do_aux_switch_function - implement the function invoked by the ch7 or ch8 switch
static void do_aux_switch_function(int8_t ch_function, bool ch_flag)
{
int8_t tmp_function = ch_function;
if(g.ch7_option == CH7_MULTI_MODE) {
// multi mode check
if(ch_function == AUX_SWITCH_MULTI_MODE) {
if (g.rc_6.radio_in < CH6_PWM_TRIGGER_LOW) {
option = CH7_FLIP;
tmp_function = AUX_SWITCH_FLIP;
}else if (g.rc_6.radio_in > CH6_PWM_TRIGGER_HIGH) {
option = CH7_SAVE_WP;
tmp_function = AUX_SWITCH_SAVE_WP;
}else{
option = CH7_RTL;
tmp_function = AUX_SWITCH_RTL;
}
}else{
option = g.ch7_option;
}
switch(option) {
case CH7_FLIP:
switch(tmp_function) {
case AUX_SWITCH_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if(ap_system.CH7_flag && g.rc_3.control_in >= 0 && ap.takeoff_complete) {
if(ch_flag && g.rc_3.control_in >= 0 && ap.takeoff_complete) {
init_flip();
}
break;
case CH7_SIMPLE_MODE:
set_simple_mode(ap_system.CH7_flag);
case AUX_SWITCH_SIMPLE_MODE:
set_simple_mode(ch_flag);
break;
case CH7_RTL:
if (ap_system.CH7_flag) {
case AUX_SWITCH_RTL:
if (ch_flag) {
// engage RTL
set_mode(RTL);
}else{
@ -99,28 +114,28 @@ static void read_trim_switch()
}
break;
case CH7_SAVE_TRIM:
if(ap_system.CH7_flag && control_mode <= ACRO && g.rc_3.control_in == 0) {
case AUX_SWITCH_SAVE_TRIM:
if(ch_flag && control_mode <= ACRO && g.rc_3.control_in == 0) {
save_trim();
}
break;
case CH7_SAVE_WP:
// save when CH7 switch is switched off
if (ap_system.CH7_flag == false) {
case AUX_SWITCH_SAVE_WP:
// save waypoint when switch is switched off
if (ch_flag == false) {
// if in auto mode, reset the mission
if(control_mode == AUTO) {
CH7_wp_index = 0;
aux_switch_wp_index = 0;
g.command_total.set_and_save(1);
set_mode(RTL);
return;
}
if(CH7_wp_index == 0) {
if(aux_switch_wp_index == 0) {
// this is our first WP, let's save WP 1 as a takeoff
// increment index to WP index of 1 (home is stored at 0)
CH7_wp_index = 1;
aux_switch_wp_index = 1;
Location temp = home;
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
@ -131,15 +146,15 @@ static void read_trim_switch()
// we use the current altitude to be the target for takeoff.
// only altitude will matter to the AP mission script for takeoff.
// If we are above the altitude, we will skip the command.
set_cmd_with_index(temp, CH7_wp_index);
set_cmd_with_index(temp, aux_switch_wp_index);
}
// increment index
CH7_wp_index++;
aux_switch_wp_index++;
// set the next_WP (home is stored at 0)
// max out at 100 since I think we need to stay under the EEPROM limit
CH7_wp_index = constrain_int16(CH7_wp_index, 1, 100);
aux_switch_wp_index = constrain_int16(aux_switch_wp_index, 1, 100);
if(g.rc_3.control_in > 0) {
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
@ -150,7 +165,7 @@ static void read_trim_switch()
}
// save command
set_cmd_with_index(current_loc, CH7_wp_index);
set_cmd_with_index(current_loc, aux_switch_wp_index);
// Cause the CopterLEDs to blink twice to indicate saved waypoint
copter_leds_nav_blink = 10;
@ -158,22 +173,22 @@ static void read_trim_switch()
break;
#if CAMERA == ENABLED
case CH7_CAMERA_TRIGGER:
if(ap_system.CH7_flag) {
case AUX_SWITCH_CAMERA_TRIGGER:
if(ch_flag) {
do_take_picture();
}
break;
#endif
case CH7_SONAR:
case AUX_SWITCH_SONAR:
// enable or disable the sonar
g.sonar_enabled = ap_system.CH7_flag;
g.sonar_enabled = ch_flag;
break;
#if AC_FENCE == ENABLED
case CH7_FENCE:
case AUX_SWITCH_FENCE:
// enable or disable the fence
fence.enable(ap_system.CH7_flag);
fence.enable(ch_flag);
break;
#endif
}

32
ArduCopter/defines.h
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@ -44,23 +44,23 @@
#define SONAR_SOURCE_ADC 1
#define SONAR_SOURCE_ANALOG_PIN 2
// CH 7 control
#define CH7_PWM_TRIGGER 1800 // pwm value above which the channel 7 option will be invoked
#define CH6_PWM_TRIGGER_HIGH 1800
#define CH6_PWM_TRIGGER_LOW 1200
// Ch7 and Ch8 aux switch control
#define AUX_SWITCH_PWM_TRIGGER 1800 // pwm value above which the ch7 or ch8 option will be invoked
#define CH6_PWM_TRIGGER_HIGH 1800
#define CH6_PWM_TRIGGER_LOW 1200
#define CH7_DO_NOTHING 0
#define CH7_SET_HOVER 1 // deprecated
#define CH7_FLIP 2
#define CH7_SIMPLE_MODE 3
#define CH7_RTL 4
#define CH7_SAVE_TRIM 5
#define CH7_ADC_FILTER 6 // deprecated
#define CH7_SAVE_WP 7
#define CH7_MULTI_MODE 8
#define CH7_CAMERA_TRIGGER 9
#define CH7_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define CH7_FENCE 11 // allow enabling or disabling fence in flight
#define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled
#define AUX_SWITCH_SET_HOVER 1 // deprecated
#define AUX_SWITCH_FLIP 2 // flip
#define AUX_SWITCH_SIMPLE_MODE 3 // change to simple mode
#define AUX_SWITCH_RTL 4 // change to RTL flight mode
#define AUX_SWITCH_SAVE_TRIM 5 // save current position as level
#define AUX_SWITCH_ADC_FILTER 6 // deprecated
#define AUX_SWITCH_SAVE_WP 7 // save mission waypoint or RTL if in auto mode
#define AUX_SWITCH_MULTI_MODE 8 // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
#define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay
#define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight