ardupilot/ArduCopter/control_modes.pde

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#define CONTROL_SWITCH_COUNTER  5      // 5 iterations (1/10th of a second) at a new switch position will cause flight mode change
static void read_control_switch()
{
    static uint8_t switch_counter = 0;

    byte switchPosition = readSwitch();

    if (oldSwitchPosition != switchPosition) {
        switch_counter++;
        if(switch_counter >= CONTROL_SWITCH_COUNTER) {
            oldSwitchPosition       = switchPosition;
            switch_counter          = 0;

            // ignore flight mode changes if in failsafe
            if( !ap.failsafe ) {
                set_mode(flight_modes[switchPosition]);

                if(g.ch7_option != CH7_SIMPLE_MODE) {
                    // set Simple mode using stored paramters from Mission planner
                    // rather than by the control switch
                    set_simple_mode(g.simple_modes & (1 << switchPosition));
                }
            }
        }
    }else{
        // reset switch_counter if there's been no change
        // we don't want 10 intermittant blips causing a flight mode change
        switch_counter = 0;
    }
}

static byte readSwitch(void){
    int16_t pulsewidth = g.rc_5.radio_in;                       // default for Arducopter

    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;
    if (pulsewidth >= 1750) return 5;
    return 0;
}

static void reset_control_switch()
{
    oldSwitchPosition = -1;
    read_control_switch();
}

// read at 10 hz
// set this to your trainer switch
static void read_trim_switch()
{
    int8_t option;

    if(g.ch7_option == CH7_MULTI_MODE) {
        if (g.rc_6.radio_in < CH_6_PWM_TRIGGER_LOW) {
            option = CH7_FLIP;
        }else if (g.rc_6.radio_in > CH_6_PWM_TRIGGER_HIGH) {
            option = CH7_SAVE_WP;
        }else{
            option = CH7_RTL;
        }
    }else{
        option = g.ch7_option;
    }

    if(option == CH7_SIMPLE_MODE) {
        //ap.simple_mode = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
        set_simple_mode(g.rc_7.radio_in > CH_7_PWM_TRIGGER);

    }else if (option == CH7_FLIP) {
        if (ap_system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
            ap_system.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 && ap.takeoff_complete) {
                init_flip();
            }
        }
        if (ap_system.CH7_flag == true && g.rc_7.control_in < 800) {
            ap_system.CH7_flag = false;
        }

    }else if (option == CH7_RTL) {
        if (ap_system.CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
            ap_system.CH7_flag = true;
            set_mode(RTL);
        }

        if (ap_system.CH7_flag == true && g.rc_7.control_in < 800) {
            ap_system.CH7_flag = false;
            if (control_mode == RTL || control_mode == LOITER) {
                reset_control_switch();
            }
        }

    }else if (option == CH7_SAVE_WP) {
        if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) {        // switch is engaged
            ap_system.CH7_flag = true;

        }else{         // switch is disengaged
            if(ap_system.CH7_flag) {
                ap_system.CH7_flag = false;

                if(control_mode == AUTO) {
                    // reset the mission
                    CH7_wp_index = 0;
                    g.command_total.set_and_save(1);
                    set_mode(RTL);
                    return;
                }

                if(CH7_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;

                    Location temp   = home;
                    // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
                    temp.id = MAV_CMD_NAV_TAKEOFF;
                    temp.alt = current_loc.alt;

                    // save command:
                    // 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);
                }

                // increment index
                CH7_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(CH7_wp_index, 1, 100);

                if(g.rc_3.control_in > 0) {
                    // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
                    current_loc.id = MAV_CMD_NAV_WAYPOINT;
                }else{
                    // set our location ID to 21, MAV_CMD_NAV_LAND
                    current_loc.id = MAV_CMD_NAV_LAND;
                }

                // save command
                set_cmd_with_index(current_loc, CH7_wp_index);

                copter_leds_nav_blink = 10;                     // Cause the CopterLEDs to blink twice to indicate saved waypoint

                // 0 = home
                // 1 = takeoff
                // 2 = WP 2
                // 3 = command total
            }
        }
    }else if (option == CH7_AUTO_TRIM) {
        if(g.rc_7.radio_in > CH_7_PWM_TRIGGER && control_mode <= ACRO && g.rc_3.control_in == 0) {
            save_trim_counter = 15;
        }
    }
}

// save_trim - adds roll and pitch trims from the radio to ahrs
static void save_trim()
{
    float roll_trim, pitch_trim;

    if(save_trim_counter > 0) {
        save_trim_counter--;

        // first few iterations we simply flash the leds
        led_mode = SAVE_TRIM_LEDS;

        if(save_trim_counter == 1) {
            // save roll trim
            roll_trim = ToRad((float)g.rc_1.control_in/100.0);
            pitch_trim = ToRad((float)g.rc_2.control_in/100.0);
            ahrs.add_trim(roll_trim, pitch_trim);

            reset_control_switch();

            // switch back leds to normal
            led_mode = NORMAL_LEDS;

            save_trim_counter = 0;
        }
    }
}