CH 6 Range setup

ArduCopter/Parameters.pde

@@ -64,6 +64,8 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(log_last_filenumber, "LOG_LASTFILE"),
 	GSCALAR(esc_calibrate, "ESC"),
 	GSCALAR(radio_tuning, "TUNE"),
+	GSCALAR(radio_tuning_low, "TUNE_LOW"),
+	GSCALAR(radio_tuning_high, "TUNE_HIGH"),
 	GSCALAR(frame_orientation, "FRAME"),
 	GSCALAR(top_bottom_ratio, "TB_RATIO"),
 	GSCALAR(ch7_option, "CH7_OPT"),

ArduCopter/setup.pde

@@ -14,6 +14,7 @@ static int8_t	setup_batt_monitor		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_sonar				(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_compass			(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_tune				(uint8_t argc, const Menu::arg *argv);
+static int8_t	setup_range				(uint8_t argc, const Menu::arg *argv);
 //static int8_t	setup_mag_offset		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_declination		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_optflow			(uint8_t argc, const Menu::arg *argv);
@@ -39,6 +40,7 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
 	{"sonar",			setup_sonar},
 	{"compass",			setup_compass},
 	{"tune",			setup_tune},
+	{"range",			setup_range},
 //	{"offsets",			setup_mag_offset},
 	{"declination",		setup_declination},
 	{"optflow",			setup_optflow},
@@ -355,6 +357,19 @@ static int8_t
 setup_tune(uint8_t argc, const Menu::arg *argv)
 {
 	g.radio_tuning.set_and_save(argv[1].i);
+	//g.radio_tuning_high.set_and_save(1000);
+	//g.radio_tuning_low.set_and_save(0);
+	report_tuning();
+	return 0;
+}
+
+static int8_t
+setup_range(uint8_t argc, const Menu::arg *argv)
+{
+	Serial.printf_P(PSTR("\nCH 6 Ranges are divided by 1000: [low, high]\n"));
+
+	g.radio_tuning_low.set_and_save(argv[1].i);
+	g.radio_tuning_high.set_and_save(argv[2].i);
 	report_tuning();
 	return 0;
 }
@@ -1159,7 +1174,9 @@ static void report_tuning()
 	if (g.radio_tuning == 0){
 		print_enabled(g.radio_tuning.get());
 	}else{
-		Serial.printf_P(PSTR(" %d\n"),(int)g.radio_tuning.get());
+		float low  = (float)g.radio_tuning_low.get() / 1000;
+		float high = (float)g.radio_tuning_high.get() / 1000;
+		Serial.printf_P(PSTR(" %d, Low:%1.4f, High:%1.4f\n"),(int)g.radio_tuning.get(), low, high);
 	}
 	print_blanks(2);
 }