added relay control to CH6

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2943 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/APM_Config.h

@@ -18,7 +18,7 @@
 	HELI_FRAME
 	*/
 
-//#define FRAME_ORIENTATION X_FRAME
+//#define FRAME_ORIENTATION PLUS_FRAME
 	/*
 	PLUS_FRAME
 	X_FRAME
@@ -26,7 +26,7 @@
 	*/
 
 
-//#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!!

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()

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

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
 }
 

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){