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62 lines
1.9 KiB
62 lines
1.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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static void read_control_switch() |
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{ |
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byte switchPosition = readSwitch(); |
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if (oldSwitchPosition != switchPosition){ |
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set_mode(flight_modes[switchPosition]); |
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oldSwitchPosition = switchPosition; |
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prev_WP = current_loc; |
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// reset navigation integrators |
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// ------------------------- |
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reset_I(); |
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} |
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if (g.inverted_flight_ch != 0) { |
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// if the user has configured an inverted flight channel, then |
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// fly upside down when that channel goes above INVERTED_FLIGHT_PWM |
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inverted_flight = (control_mode != MANUAL && APM_RC.InputCh(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM); |
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} |
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} |
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static byte readSwitch(void){ |
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uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1); |
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if (pulsewidth > 1230 && pulsewidth <= 1360) return 1; |
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if (pulsewidth > 1360 && pulsewidth <= 1490) return 2; |
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if (pulsewidth > 1490 && pulsewidth <= 1620) return 3; |
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if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual |
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if (pulsewidth >= 1750) return 5; // Hardware Manual |
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return 0; |
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} |
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static void reset_control_switch() |
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{ |
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oldSwitchPosition = 0; |
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read_control_switch(); |
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SendDebug_P("MSG: reset_control_switch"); |
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SendDebugln(oldSwitchPosition , DEC); |
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} |
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static void update_servo_switches() |
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{ |
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if (!g.switch_enable) { |
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// switches are disabled in EEPROM (see SWITCH_ENABLE option) |
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// this means the EEPROM control of all channel reversal is enabled |
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return; |
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} |
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// up is reverse |
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// up is elevon |
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g.mix_mode = (PINL & 128) ? 1 : 0; // 1 for elevon mode |
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if (g.mix_mode == 0) { |
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g.channel_roll.set_reverse((PINE & 128) ? true : false); |
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g.channel_pitch.set_reverse((PINE & 64) ? true : false); |
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g.channel_rudder.set_reverse((PINL & 64) ? true : false); |
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} else { |
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g.reverse_elevons = (PINE & 128) ? true : false; |
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g.reverse_ch1_elevon = (PINE & 64) ? true : false; |
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g.reverse_ch2_elevon = (PINL & 64) ? true : false; |
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} |
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}
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