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Copter: generalize 3 pos switch for all ch7/ch8 options

master
Randy Mackay 12 years ago
parent
87d062905e
commit
2c48c20088
3 changed files with 49 additions and 79 deletions
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  1. 4
      ArduCopter/Parameters.pde
  2. 109
      ArduCopter/control_modes.pde
  3. 15
      ArduCopter/defines.h

4
ArduCopter/Parameters.pde
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@ -405,14 +405,14 @@ const AP_Param::Info var_info[] PROGMEM = { @@ -405,14 +405,14 @@ 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:Sonar, 11:Fence, 12:ResetToArmedYaw, 100:3pos Simple Mode
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode
// @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:Sonar, 11:Fence, 12:ResetToArmedYaw, 100:3pos Simple Mode
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),

109
ArduCopter/control_modes.pde
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@ -18,7 +18,7 @@ static void read_control_switch() @@ -18,7 +18,7 @@ static void read_control_switch()
// set flight mode and simple mode setting
if (set_mode(flight_modes[switchPosition])) {
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE && g.ch7_option != AUX_SWITCH_3POS_SIMPLE_SUPERSIMPLE_MODE && g.ch8_option != AUX_SWITCH_3POS_SIMPLE_SUPERSIMPLE_MODE) {
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE && g.ch7_option != AUX_SWITCH_SUPERSIMPLE_MODE && g.ch8_option != AUX_SWITCH_SUPERSIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
set_simple_mode(BIT_IS_SET(g.simple_modes, switchPosition));
@ -50,84 +50,47 @@ static void reset_control_switch() @@ -50,84 +50,47 @@ static void reset_control_switch()
read_control_switch();
}
// read_3pos_switch
static uint8_t read_3pos_switch(int16_t radio_in){
if (radio_in < AUX_SWITCH_PWM_TRIGGER_LOW) return AUX_SWITCH_LOW; // switch is in low position
if (radio_in > AUX_SWITCH_PWM_TRIGGER_HIGH) return AUX_SWITCH_HIGH; // switch is in high position
return AUX_SWITCH_MIDDLE; // switch is in middle position
}
// read_aux_switches - checks aux switch positions and invokes configured actions
static void read_aux_switches()
{
uint8_t switch_position;
// Check if we have a 3 positions switch function for Ch7
if (g.ch7_option >= 100) {
// check if CH7 switch has changed position
if (ap_system.CH7_flag != read3posCH7Switch()) {
// set the CH7 flag
ap_system.CH7_flag = read3posCH7Switch();
// invoke the appropriate function
do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
}
}
// Else we have a 2 positions switch function - check if ch7 switch has changed position
else if (ap_system.CH7_flag != (g.rc_7.radio_in >= AUX_SWITCH_PWM_TRIGGER)) {
// check if ch7 switch has changed position
switch_position = read_3pos_switch(g.rc_7.radio_in);
if (ap_system.CH7_flag != switch_position) {
// set the CH7 flag
ap_system.CH7_flag = (g.rc_7.radio_in >= AUX_SWITCH_PWM_TRIGGER);
ap_system.CH7_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
}
// Check if we have a 3 positions switch function for Ch8
if (g.ch8_option >= 100) {
// check if Ch8 switch has changed position
if (ap_system.CH8_flag != read3posCH8Switch()) {
// set the CH8 flag
ap_system.CH8_flag = read3posCH8Switch();
// invoke the appropriate function
do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
}
}
// Else we have a 2 positions switch function - check if Ch8 switch has changed position
else if (ap_system.CH8_flag != (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER)) {
// check if Ch8 switch has changed position
switch_position = read_3pos_switch(g.rc_8.radio_in);
if (ap_system.CH8_flag != switch_position) {
// set the CH8 flag
ap_system.CH8_flag = (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER);
ap_system.CH8_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
}
}
static uint8_t read3posCH7Switch(void){
int16_t pulsewidth = g.rc_7.radio_in; // Read CH7
if (pulsewidth < CH7_PWM_TRIGGER_LOW) return 0; // Ch7 switch is in low position
if (pulsewidth > CH7_PWM_TRIGGER_HIGH) return 2; // Ch7 switch is in high position
return 1; // Ch7 switch is in center position
}
static uint8_t read3posCH8Switch(void){
int16_t pulsewidth = g.rc_8.radio_in; // Read CH8
if (pulsewidth < CH8_PWM_TRIGGER_LOW) return 0; // Ch8 switch is in low position
if (pulsewidth > CH8_PWM_TRIGGER_HIGH) return 2; // Ch8 switch is in high position
return 1; // Ch8 switch is in center position
}
// init_aux_switches - invoke configured actions at start-up for aux function where it is safe to do so
static void init_aux_switches()
{
uint8_t switch_position;
// set channel 7 and 8 flags according to switch position and switch type (2 or 3 positions)
if (g.ch7_option >= 100) {
// set the CH7 flag
ap_system.CH7_flag = read3posCH7Switch();
} else {
ap_system.CH7_flag = (g.rc_7.radio_in >= AUX_SWITCH_PWM_TRIGGER);
}
if (g.ch8_option >= 100) {
ap_system.CH8_flag = read3posCH8Switch();
} else {
ap_system.CH8_flag = (g.rc_8.radio_in >= AUX_SWITCH_PWM_TRIGGER);
}
// set the CH7 flag
ap_system.CH7_flag = read_3pos_switch(g.rc_7.radio_in);
ap_system.CH8_flag = read_3pos_switch(g.rc_8.radio_in);
// init channel 7 options
switch(g.ch7_option) {
@ -135,7 +98,7 @@ static void init_aux_switches() @@ -135,7 +98,7 @@ static void init_aux_switches()
case AUX_SWITCH_SONAR:
case AUX_SWITCH_FENCE:
case AUX_SWITCH_RESETTOARMEDYAW:
case AUX_SWITCH_3POS_SIMPLE_SUPERSIMPLE_MODE:
case AUX_SWITCH_SUPERSIMPLE_MODE:
do_aux_switch_function(g.ch7_option, ap_system.CH7_flag);
break;
}
@ -145,7 +108,7 @@ static void init_aux_switches() @@ -145,7 +108,7 @@ static void init_aux_switches()
case AUX_SWITCH_SONAR:
case AUX_SWITCH_FENCE:
case AUX_SWITCH_RESETTOARMEDYAW:
case AUX_SWITCH_3POS_SIMPLE_SUPERSIMPLE_MODE:
case AUX_SWITCH_SUPERSIMPLE_MODE:
do_aux_switch_function(g.ch8_option, ap_system.CH8_flag);
break;
}
@ -170,18 +133,18 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -170,18 +133,18 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
switch(tmp_function) {
case AUX_SWITCH_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if(ch_flag && g.rc_3.control_in >= 0 && ap.takeoff_complete) {
if((ch_flag == AUX_SWITCH_HIGH) && (g.rc_3.control_in >= 0) && ap.takeoff_complete) {
init_flip();
}
break;
case AUX_SWITCH_SIMPLE_MODE:
case AUX_SWITCH_3POS_SIMPLE_SUPERSIMPLE_MODE:
case AUX_SWITCH_SUPERSIMPLE_MODE:
set_simple_mode(ch_flag);
break;
case AUX_SWITCH_RTL:
if (ch_flag) {
if (ch_flag == AUX_SWITCH_HIGH) {
// engage RTL (if not possible we remain in current flight mode)
set_mode(RTL);
}else{
@ -193,14 +156,14 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -193,14 +156,14 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
case AUX_SWITCH_SAVE_TRIM:
if(ch_flag && control_mode <= ACRO && g.rc_3.control_in == 0) {
if ((ch_flag == AUX_SWITCH_HIGH) && (control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
save_trim();
}
break;
case AUX_SWITCH_SAVE_WP:
// save waypoint when switch is switched off
if (ch_flag == false) {
if (ch_flag == AUX_SWITCH_LOW) {
// if in auto mode, reset the mission
if(control_mode == AUTO) {
@ -252,7 +215,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -252,7 +215,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
#if CAMERA == ENABLED
case AUX_SWITCH_CAMERA_TRIGGER:
if(ch_flag) {
if (ch_flag == AUX_SWITCH_HIGH) {
do_take_picture();
}
break;
@ -260,17 +223,25 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -260,17 +223,25 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUX_SWITCH_SONAR:
// enable or disable the sonar
g.sonar_enabled = ch_flag;
if (ch_flag == AUX_SWITCH_HIGH) {
g.sonar_enabled = true;
}else{
g.sonar_enabled = false;
}
break;
#if AC_FENCE == ENABLED
case AUX_SWITCH_FENCE:
// enable or disable the fence
fence.enable(ch_flag);
if (ch_flag == AUX_SWITCH_HIGH) {
fence.enable(true);
}else{
fence.enable(false);
}
break;
#endif
case AUX_SWITCH_RESETTOARMEDYAW:
if (ch_flag) {
if (ch_flag == AUX_SWITCH_HIGH) {
set_yaw_mode(YAW_RESETTOARMEDYAW);
}else{
set_yaw_mode(YAW_HOLD);

15
ArduCopter/defines.h
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@ -45,13 +45,10 @@ @@ -45,13 +45,10 @@
#define SONAR_SOURCE_ANALOG_PIN 2
// Ch6, Ch7 and Ch8 aux switch control
#define AUX_SWITCH_PWM_TRIGGER 1800 // pwm value above which the ch7 or ch8 option will be invoked
#define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked
#define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled
#define CH6_PWM_TRIGGER_HIGH 1800
#define CH6_PWM_TRIGGER_LOW 1200
#define CH7_PWM_TRIGGER_HIGH 1800
#define CH7_PWM_TRIGGER_LOW 1200
#define CH8_PWM_TRIGGER_HIGH 1800
#define CH8_PWM_TRIGGER_LOW 1200
#define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled
#define AUX_SWITCH_SET_HOVER 1 // deprecated
@ -66,10 +63,12 @@ @@ -66,10 +63,12 @@
#define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight
#define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed
#define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top
// Functions >= 100 need a 3 positions switch
#define AUX_SWITCH_3POS_SIMPLE_SUPERSIMPLE_MODE 100 // depending upon CH7 or CH8 position : disable Simple mode (if CH7 or CH8 is low) ; select Simple mode (if CH7 or CH8 in middle) ; select SuperSimple mode (if CH7 or CH8 is high)
// 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)
#define AUX_SWITCH_MIDDLE 1 // indicates auxiliar switch is in the middle position (pwm >1200, <1800)
#define AUX_SWITCH_HIGH 2 // indicates auxiliar switch is in the high position (pwm >1800)
// Frame types
#define QUAD_FRAME 0

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