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Added Auto_trim to CH7 option

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This commit is contained in:
Jason Short 2011-09-21 16:24:09 -07:00
parent 39cefe9554
commit c2d56de264
3 changed files with 12 additions and 1 deletions
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3
ArduCopter/APM_Config.h
View File

@ -48,13 +48,14 @@
CH6_TRAVERSE_SPEED CH6_TRAVERSE_SPEED
*/ */
# define CH7_OPTION CH7_DO_NOTHING # define CH7_OPTION CH7_RTL
/* /*
CH7_DO_NOTHING CH7_DO_NOTHING
CH7_SET_HOVER CH7_SET_HOVER
CH7_FLIP CH7_FLIP
CH7_SIMPLE_MODE CH7_SIMPLE_MODE
CH7_RTL CH7_RTL
CH7_AUTO_TRIM
*/ */
// See the config.h and defines.h files for how to set this up! // See the config.h and defines.h files for how to set this up!

9
ArduCopter/control_modes.pde
View File

@ -62,8 +62,12 @@ static void read_trim_switch()
//Serial.println(g.rc_7.control_in, DEC); //Serial.println(g.rc_7.control_in, DEC);
#elif CH7_OPTION == CH7_RTL #elif CH7_OPTION == CH7_RTL
if(control_mode == RTL && g.rc_7.control_in < 800){
reset_control_switch();
}
if(control_mode != RTL && g.rc_7.control_in > 800) if(control_mode != RTL && g.rc_7.control_in > 800)
set_mode(RTL); set_mode(RTL);
//do_simple = (g.rc_7.control_in > 800); //do_simple = (g.rc_7.control_in > 800);
//Serial.println(g.rc_7.control_in, DEC); //Serial.println(g.rc_7.control_in, DEC);
@ -84,7 +88,12 @@ static void read_trim_switch()
trim_flag = false; trim_flag = false;
} }
} }
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.control_in > 800){
auto_level_counter = 10;
}
#endif #endif
} }
static void auto_trim() static void auto_trim()

1
ArduCopter/defines.h
View File

@ -32,6 +32,7 @@
#define CH7_FLIP 2 #define CH7_FLIP 2
#define CH7_SIMPLE_MODE 3 #define CH7_SIMPLE_MODE 3
#define CH7_RTL 4 #define CH7_RTL 4
#deinfe CH7_AUTO_TRIM 5
// Frame types // Frame types
#define QUAD_FRAME 0 #define QUAD_FRAME 0