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83 lines
1.9 KiB
83 lines
1.9 KiB
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(g.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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} |
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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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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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void update_servo_switches() |
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{ |
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// up is reverse |
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// up is elevon |
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mix_mode = (PINL & 128) ? 1 : 0; |
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if (mix_mode == 0) { |
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reverse_roll = (PINE & 128) ? true : false; |
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reverse_pitch = (PINE & 64) ? true : false; |
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reverse_rudder = (PINL & 64) ? true : false; |
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} else { |
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reverse_elevons = (PINE & 128) ? -1 : 1; |
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reverse_ch1_elevon = (PINE & 64) ? -1 : 1; |
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reverse_ch2_elevon = (PINL & 64) ? -1 : 1; |
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} |
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} |
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bool trim_flag; |
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unsigned long trim_timer; |
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// read at 10 hz |
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// set this to your trainer switch |
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void read_trim_switch() |
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{ |
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// switch is engaged |
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if (g.rc_7.control_in > 800){ |
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if(trim_flag == false){ |
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// called once |
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trim_timer = millis(); |
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} |
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trim_flag = true; |
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}else{ // switch is disengaged |
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if(trim_flag){ |
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// switch was just released |
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if((millis() - trim_timer) > 2000){ |
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g.throttle_cruise.set_and_save(g.channel_throttle.control_in); |
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g.angle_of_attack.set_and_save(dcm.pitch_sensor); |
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g.airspeed_cruise.set_and_save(airspeed); |
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} else { |
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} |
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trim_flag = false; |
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} |
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} |
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}
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