From 2d094da38e804daefccb6ed5964c98a3bd939685 Mon Sep 17 00:00:00 2001
From: jphelirc <jphelirc@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Tue, 26 Jul 2011 03:37:41 +0000
Subject: [PATCH] added relay control to CH6

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2943 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/APM_Config.h       | 7 ++++---
 ArduCopterMega/ArduCopterMega.pde | 7 +++++++
 ArduCopterMega/defines.h          | 1 +
 ArduCopterMega/radio.pde          | 3 +++
 ArduCopterMega/test.pde           | 3 +++
 5 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/ArduCopterMega/APM_Config.h b/ArduCopterMega/APM_Config.h
index 48c089d1a3..cff9dab96f 100644
--- a/ArduCopterMega/APM_Config.h
+++ b/ArduCopterMega/APM_Config.h
@@ -18,15 +18,15 @@
 	HELI_FRAME
 	*/
 
-//#define FRAME_ORIENTATION X_FRAME
+//#define FRAME_ORIENTATION PLUS_FRAME
 	/*
 	PLUS_FRAME
 	X_FRAME
-    V_FRAME
+        V_FRAME
 	*/
 
 
-//#define CHANNEL_6_TUNING CH6_NONE
+//#define CHANNEL_6_TUNING  CH6_RELAY
 	/*
 	CH6_NONE
 	CH6_STABILIZE_KP
@@ -41,6 +41,7 @@
 	CH6_YAW_RATE_KI
 	CH6_TOP_BOTTOM_RATIO
 	CH6_PMAX
+        CH6_RELAY
 	*/
 
 // experimental!!
diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index b317ec9c0c..b4b0430bad 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -1514,7 +1514,14 @@ static void tuning(){
 	#elif CHANNEL_6_TUNING == CH6_PMAX
 		g.pitch_max.set(g.rc_6.control_in * 2);  // 0 to 2000
 
+        // Simple relay control
+        #elif CHANNEL_6_TUNING == CH6_RELAY
+              if(g.rc_6.control_in <= 600) relay_on(); 
+              if(g.rc_6.control_in >= 400) relay_off();
+
 	#endif
+
+
 }
 
 static void update_nav_wp()
diff --git a/ArduCopterMega/defines.h b/ArduCopterMega/defines.h
index 906c6aa232..95a2ac59cb 100644
--- a/ArduCopterMega/defines.h
+++ b/ArduCopterMega/defines.h
@@ -147,6 +147,7 @@
 // Extras
 #define CH6_TOP_BOTTOM_RATIO 11
 #define CH6_PMAX 12
+#define CH6_RELAY 13
 
 
 // nav byte mask
diff --git a/ArduCopterMega/radio.pde b/ArduCopterMega/radio.pde
index 3fe40868fe..1d49a9a30d 100644
--- a/ArduCopterMega/radio.pde
+++ b/ArduCopterMega/radio.pde
@@ -55,6 +55,9 @@ static void init_rc_in()
 
 	#elif CHANNEL_6_TUNING == CH6_TOP_BOTTOM_RATIO
 		g.rc_6.set_range(800,1000); // .8 to 1
+
+/*        #elif CHANNEL_6_TUNING == CH6_RELAY
+                g.rc_6.set_range(0,1000);   // 0 to 1  */
 	#endif
 }
 
diff --git a/ArduCopterMega/test.pde b/ArduCopterMega/test.pde
index 1e0443e401..8199771938 100644
--- a/ArduCopterMega/test.pde
+++ b/ArduCopterMega/test.pde
@@ -743,6 +743,9 @@ test_tuning(uint8_t argc, const Menu::arg *argv)
 		#elif CHANNEL_6_TUNING == CH6_PMAX
 			Serial.printf_P(PSTR("Y6: %d\n"), (g.rc_6.control_in * 2));
 
+		#elif CHANNEL_6_TUNING == CH6_RELAY
+			Serial.printf_P(PSTR(" %d\n"), (g.rc_6.control_in ));
+
 		#endif
 
 		if(Serial.available() > 0){