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114 lines
2.5 KiB
114 lines
2.5 KiB
void read_control_switch() |
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{ |
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byte switchPosition = readSwitch(); |
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//motor_armed = (switchPosition < 5); |
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if (oldSwitchPosition != switchPosition){ |
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if(motor_armed) |
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Serial.println("motor_armed"); |
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else |
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Serial.println("motor disarmed"); |
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set_mode(flight_modes[switchPosition]); |
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oldSwitchPosition = switchPosition; |
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// reset navigation integrators |
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// ------------------------- |
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reset_I(); |
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} |
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} |
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byte readSwitch(void){ |
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#if FLIGHT_MODE_CHANNEL == CH_5 |
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int pulsewidth = rc_5.radio_in; // default for Arducopter |
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#elif FLIGHT_MODE_CHANNEL == CH_6 |
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int pulsewidth = rc_6.radio_in; // |
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#elif FLIGHT_MODE_CHANNEL == CH_7 |
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int pulsewidth = rc_7.radio_in; // |
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#elif FLIGHT_MODE_CHANNEL == CH_8 |
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int pulsewidth = rc_8.radio_in; // default for Ardupilot. Don't use for Arducopter! it has a hardware failsafe mux! |
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#else |
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# error Must define FLIGHT_MODE_CHANNEL as CH_5 - CH_8 |
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#endif |
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if (pulsewidth > 1230 && pulsewidth <= 1360) return 1; |
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if (pulsewidth > 1360 && pulsewidth <= 1490) return 2; |
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if (pulsewidth > 1490 && pulsewidth <= 1620) return 3; |
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if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual |
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if (pulsewidth >= 1750) return 5; // Hardware Manual |
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return 0; |
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} |
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void reset_control_switch() |
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{ |
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oldSwitchPosition = -1; |
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read_control_switch(); |
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//Serial.print("MSG: reset_control_switch"); |
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//Serial.println(oldSwitchPosition , DEC); |
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} |
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void update_servo_switches() |
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{ |
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} |
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boolean trim_flag; |
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unsigned long trim_timer; |
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// read at 10 hz |
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// set this to your trainer switch |
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void read_trim_switch() |
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{ |
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// switch is engaged |
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if (rc_7.control_in > 500){ |
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if(trim_flag == false){ |
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// called once |
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trim_timer = millis(); |
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} |
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trim_flag = true; |
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trim_accel(); |
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}else{ // switch is disengaged |
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if(trim_flag){ |
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// switch was just released |
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if((millis() - trim_timer) > 2000){ |
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// not being used |
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} else { |
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// set the throttle nominal |
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if(rc_3.control_in > 50){ |
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throttle_cruise = rc_3.control_in; |
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//Serial.print("tnom "); |
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//Serial.println(throttle_cruise, DEC); |
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save_EEPROM_throttle_cruise(); |
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} |
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} |
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trim_flag = false; |
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} |
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} |
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} |
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void trim_accel() |
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{ |
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if(rc_1.control_in > 0){ |
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imu.ay(imu.ay() + 1); |
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}else if (rc_1.control_in < 0){ |
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imu.ay(imu.ay() - 1); |
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} |
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if(rc_2.control_in > 0){ |
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imu.ax(imu.ax() + 1); |
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}else if (rc_2.control_in < 0){ |
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imu.ax(imu.ax() - 1); |
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} |
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Serial.printf("r:%ld p:%ld ax:%d, ay:%d, az:%d\n", dcm.roll_sensor, dcm.pitch_sensor, imu.ax(), imu.ay(), imu.az()); |
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} |
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