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Added 2x3 way mode switch (#1954)

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* Added 2x3 way mode switch, which is used in the FrSky rc
* Improved comment
This commit is contained in:
kevindehecker
2016-11-21 17:37:32 +01:00
committed by Gautier Hattenberger
parent b9b5a7039b
commit 0868b7ea92
3 changed files with 39 additions and 2 deletions
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conf/airframes/TUDELFT/tudelft_conf.xml
+1 -1
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@@ -183,7 +183,7 @@
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/TUDELFT/tudelft_delft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml [settings/control/stabilization_att_int_quat.xml] settings/control/stabilization_indi.xml"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/geo_mag.xml [modules/air_data.xml]"
settings_modules="modules/imu_common.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ins_extended.xml modules/geo_mag.xml [modules/air_data.xml]"
gui_color="#ffffcccaccca"
/>
<aircraft
conf/airframes/TUDELFT/tudelft_iris_indi.xml
+1
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@@ -12,6 +12,7 @@
<firmware name="rotorcraft">
<target name="ap" board="px4fmu_2.4" />
<define name="BAT_CHECKER_DELAY" value="80" />
<define name="RADIO_MODE_2x3" value="true"/>
<!-- amount of time it take for the bat to check -->
<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
sw/airborne/firmwares/rotorcraft/autopilot.c
+37 -1
View File
@@ -610,10 +610,41 @@ void autopilot_set_motors_on(bool motors_on)
autopilot_arming_set(autopilot_motors_on);
}
#if defined RADIO_MODE_2x3
#define THRESHOLD_1d3_PPRZ (MAX_PPRZ / 3)
#define THRESHOLD_2d3_PPRZ ((MAX_PPRZ / 3) * 2)
/** Get autopilot mode as set by a RADIO_MODE 3-way switch and a 2-way switch, which are mixed together
* The 2 way switch negates the value, the 3 way switch changes in three steps from 0 - MAX_PPRZ.
* E.g. SW_1 has two positions (On/Off), SW_Mode has three positions (M1/M2/M3)
* 1 Mode value
* Off M1 -9500
* Off M2 -4800
* Off M3 -1850
* On M1 2100
* On M2 4900
* On M3 9600
* This function filters out the effect of SW_1, such that a normal 3-way switch comes out.
**/
static uint8_t ap_mode_of_3x2way_switch(void)
{
int val = radio_control.values[RADIO_MODE];
if (radio_control.values[RADIO_MODE] < 0) {
val = MAX_PPRZ + val;
}
if (val < THRESHOLD_1d3_PPRZ) {
return MODE_MANUAL;
} else if (val < THRESHOLD_2d3_PPRZ) {
return MODE_AUTO1;
} else {
return autopilot_mode_auto2;
}
}
#else
#define THRESHOLD_1_PPRZ (MIN_PPRZ / 2)
#define THRESHOLD_2_PPRZ (MAX_PPRZ / 2)
/** get autopilot mode as set by RADIO_MODE 3-way switch */
static uint8_t ap_mode_of_3way_switch(void)
{
@@ -625,6 +656,7 @@ static uint8_t ap_mode_of_3way_switch(void)
return MODE_MANUAL;
}
}
#endif
/**
* Get autopilot mode from two 2way switches.
@@ -662,8 +694,12 @@ void autopilot_on_rc_frame(void)
#ifdef RADIO_AUTO_MODE
INFO("Using RADIO_AUTO_MODE to switch between AUTO1 and AUTO2.")
uint8_t new_autopilot_mode = ap_mode_of_two_switches();
#else
#ifdef RADIO_MODE_2x3
uint8_t new_autopilot_mode = ap_mode_of_3x2way_switch();
#else
uint8_t new_autopilot_mode = ap_mode_of_3way_switch();
#endif
#endif
/* don't enter NAV mode if GPS is lost (this also prevents mode oscillations) */