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116 lines
3.9 KiB
116 lines
3.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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static void read_control_switch() |
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{ |
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uint8_t switchPosition = readSwitch(); |
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// If switchPosition = 255 this indicates that the mode control channel input was out of range |
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// If we get this value we do not want to change modes. |
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if(switchPosition == 255) return; |
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// we look for changes in the switch position. If the |
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// RST_SWITCH_CH parameter is set, then it is a switch that can be |
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// used to force re-reading of the control switch. This is useful |
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// when returning to the previous mode after a failsafe or fence |
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// breach. This channel is best used on a momentary switch (such |
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// as a spring loaded trainer switch). |
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if (oldSwitchPosition != switchPosition || |
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(g.reset_switch_chan != 0 && |
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hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) { |
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set_mode(flight_modes[switchPosition]); |
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oldSwitchPosition = switchPosition; |
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prev_WP = current_loc; |
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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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static uint8_t readSwitch(void){ |
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uint16_t pulsewidth = hal.rcin->read(g.flight_mode_channel - 1); |
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if (pulsewidth <= 910 || pulsewidth >= 2090) return 255; // This is an error condition |
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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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static void reset_control_switch() |
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{ |
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oldSwitchPosition = 0; |
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read_control_switch(); |
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} |
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#define CH_7_PWM_TRIGGER 1800 |
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// read at 10 hz |
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// set this to your trainer switch |
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static void read_trim_switch() |
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{ |
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if (g.ch7_option == CH7_SAVE_WP) { // set to 1 |
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if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged |
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trim_flag = true; |
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} else { // switch is disengaged |
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if(trim_flag) { |
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trim_flag = false; |
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if (control_mode == MANUAL) { |
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// if SW7 is ON in MANUAL = Erase the Flight Plan |
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CH7_wp_index = 0; |
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g.command_total.set_and_save(CH7_wp_index); |
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g.command_total = 0; |
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g.command_index =0; |
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nav_command_index = 0; |
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if(g.channel_roll.control_in > 3000) // if roll is full right store the current location as home |
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ground_start_count = 5; |
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CH7_wp_index = 1; |
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return; |
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} else if (control_mode == LEARNING) { |
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// if SW7 is ON in LEARNING = record the Wp |
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// set the next_WP (home is stored at 0) |
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CH7_wp_index = constrain_int16(CH7_wp_index, 1, MAX_WAYPOINTS); |
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current_loc.id = MAV_CMD_NAV_WAYPOINT; |
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// store the index |
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g.command_total.set_and_save(CH7_wp_index); |
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g.command_total = CH7_wp_index; |
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g.command_index = CH7_wp_index; |
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nav_command_index = 0; |
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// save command |
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set_cmd_with_index(current_loc, CH7_wp_index); |
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// increment index |
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CH7_wp_index++; |
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} else if (control_mode == AUTO) { |
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// if SW7 is ON in AUTO = set to RTL |
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set_mode(RTL); |
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} |
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} |
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} |
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} else if (g.ch7_option == CH7_RTL) { |
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// set to 6 |
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if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) { |
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// switch is engaged |
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trim_flag = true; |
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} else { // switch is disengaged |
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if (trim_flag) { |
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trim_flag = false; |
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if (control_mode == LEARNING) { |
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set_mode(RTL); |
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} |
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} |
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} |
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} |
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} |
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