Copter: move relay from ch6 to ch7/ch8

ArduCopter/ArduCopter.pde

@@ -1510,11 +1510,6 @@ static void tuning(){
         g.acro_yaw_p = tuning_value;
         break;
 
-    case CH6_RELAY:
-        if (g.rc_6.control_in > 525) relay.on(0);
-        if (g.rc_6.control_in < 475) relay.off(0);
-        break;
-
 #if FRAME_CONFIG == HELI_FRAME
     case CH6_HELI_EXTERNAL_GYRO:
         motors.ext_gyro_gain(g.rc_6.control_in);

ArduCopter/Parameters.pde

@@ -361,7 +361,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @DisplayName: Channel 6 Tuning
     // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
     // @User: Standard
-    // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,9:Relay On/Off,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF
+    // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,14:Altitude Hold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,42:Loiter Speed,12:Loiter Pos kP,22:Loiter Rate kP,28:Loiter Rate kI,23:Loiter Rate kD,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,13:Heli Ext Gyro,17:OF Loiter kP,18:OF Loiter kI,19:OF Loiter kD,30:AHRS Yaw kP,31:AHRS kP,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF
     GSCALAR(radio_tuning, "TUNE",                   0),
 
     // @Param: TUNE_LOW
@@ -388,14 +388,14 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: CH7_OPT
     // @DisplayName: Channel 7 option
     // @Description: Select which function if performed when CH7 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off
     // @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, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off
     // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  CH8_OPTION),
 

ArduCopter/defines.h

@@ -56,6 +56,7 @@
 #define AUX_SWITCH_ATTCON_FEEDFWD   25      // enable/disable the roll and pitch rate feed forward
 #define AUX_SWITCH_ATTCON_ACCEL_LIM 26      // enable/disable the roll, pitch and yaw accel limiting
 #define AUX_SWITCH_RETRACT_MOUNT    27      // Retract Mount
+#define AUX_SWITCH_RELAY            28      // Relay pin on/off (only supports first relay)
 
 // values used by the ap.ch7_opt and ap.ch8_opt flags
 #define AUX_SWITCH_LOW              0       // indicates auxiliar switch is in the low position (pwm <1200)
@@ -126,7 +127,7 @@
 #define CH6_WP_SPEED                    10  // maximum speed to next way point (0 to 10m/s)
 #define CH6_ACRO_RP_KP                  25  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
 #define CH6_ACRO_YAW_KP                 40  // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
-#define CH6_RELAY                       9   // switch relay on if ch6 high, off if low
+#define CH6_RELAY                       9   // deprecated -- remove
 #define CH6_HELI_EXTERNAL_GYRO          13  // TradHeli specific external tail gyro gain
 #define CH6_OPTFLOW_KP                  17  // optical flow loiter controller's P term (position error to tilt angle)
 #define CH6_OPTFLOW_KI                  18  // optical flow loiter controller's I term (position error to tilt angle)

ArduCopter/switches.pde

@@ -116,6 +116,7 @@ static void init_aux_switches()
         case AUX_SWITCH_MISSIONRESET:
         case AUX_SWITCH_ATTCON_FEEDFWD:
         case AUX_SWITCH_ATTCON_ACCEL_LIM:
+        case AUX_SWITCH_RELAY:
             do_aux_switch_function(g.ch7_option, ap.CH7_flag);
             break;
     }
@@ -137,6 +138,7 @@ static void init_aux_switches()
         case AUX_SWITCH_MISSIONRESET:
         case AUX_SWITCH_ATTCON_FEEDFWD:
         case AUX_SWITCH_ATTCON_ACCEL_LIM:
+        case AUX_SWITCH_RELAY:
             do_aux_switch_function(g.ch8_option, ap.CH8_flag);
             break;
     }
@@ -440,6 +442,10 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
         }
         break;
 #endif
+
+    case AUX_SWITCH_RELAY:
+        ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
+        break;
     }
 }