You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
77 lines
2.7 KiB
77 lines
2.7 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
static void read_control_switch() |
|
{ |
|
|
|
byte switchPosition = readSwitch(); |
|
|
|
// If switchPosition = 255 this indicates that the mode control channel input was out of range |
|
// If we get this value we do not want to change modes. |
|
if(switchPosition == 255) return; |
|
|
|
// we look for changes in the switch position. If the |
|
// RST_SWITCH_CH parameter is set, then it is a switch that can be |
|
// used to force re-reading of the control switch. This is useful |
|
// when returning to the previous mode after a failsafe or fence |
|
// breach. This channel is best used on a momentary switch (such |
|
// as a spring loaded trainer switch). |
|
if (oldSwitchPosition != switchPosition || |
|
(g.reset_switch_chan != 0 && |
|
APM_RC.InputCh(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) { |
|
|
|
set_mode(flight_modes[switchPosition]); |
|
|
|
oldSwitchPosition = switchPosition; |
|
prev_WP = current_loc; |
|
|
|
// reset navigation integrators |
|
// ------------------------- |
|
reset_I(); |
|
} |
|
|
|
if (g.inverted_flight_ch != 0) { |
|
// if the user has configured an inverted flight channel, then |
|
// fly upside down when that channel goes above INVERTED_FLIGHT_PWM |
|
inverted_flight = (control_mode != MANUAL && APM_RC.InputCh(g.inverted_flight_ch-1) > INVERTED_FLIGHT_PWM); |
|
} |
|
} |
|
|
|
static byte readSwitch(void){ |
|
uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1); |
|
if (pulsewidth <= 910 || pulsewidth >= 2090) return 255; // This is an error condition |
|
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1; |
|
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2; |
|
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3; |
|
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual |
|
if (pulsewidth >= 1750) return 5; // Hardware Manual |
|
return 0; |
|
} |
|
|
|
static void reset_control_switch() |
|
{ |
|
oldSwitchPosition = 0; |
|
read_control_switch(); |
|
} |
|
|
|
static void update_servo_switches() |
|
{ |
|
#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2 |
|
if (!g.switch_enable) { |
|
// switches are disabled in EEPROM (see SWITCH_ENABLE option) |
|
// this means the EEPROM control of all channel reversal is enabled |
|
return; |
|
} |
|
// up is reverse |
|
// up is elevon |
|
g.mix_mode = (PINL & 128) ? 1 : 0; // 1 for elevon mode |
|
if (g.mix_mode == 0) { |
|
g.channel_roll.set_reverse((PINE & 128) ? true : false); |
|
g.channel_pitch.set_reverse((PINE & 64) ? true : false); |
|
g.channel_rudder.set_reverse((PINL & 64) ? true : false); |
|
} else { |
|
g.reverse_elevons = (PINE & 128) ? true : false; |
|
g.reverse_ch1_elevon = (PINE & 64) ? true : false; |
|
g.reverse_ch2_elevon = (PINL & 64) ? true : false; |
|
} |
|
#endif |
|
}
|
|
|