From e362844532280fb41c7a8e692534c86f9b1c730b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 14 Jan 2013 13:58:53 +0900
Subject: [PATCH] Copter: added CH7 switch to enabling/disable the sonar in
flight
This indirectly switches surface tracking on/off which is useful to
avoid tracking the tops of uneven objects when far above the ground
---
ArduCopter/control_modes.pde | 5 +++++
ArduCopter/defines.h | 1 +
ArduCopter/options.cmake | 3 ++-
3 files changed, 8 insertions(+), 1 deletion(-)
diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index f03d4b3d2..781457cf5 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -164,6 +164,11 @@ static void read_trim_switch()
}
break;
#endif
+
+ case CH7_SONAR:
+ // enable or disable the sonar
+ g.sonar_enabled = ap_system.CH7_flag;
+ break;
}
}
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 053e2f8a7..8fe53cb93 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -64,6 +64,7 @@
#define CH7_SAVE_WP 7
#define CH7_MULTI_MODE 8
#define CH7_CAMERA_TRIGGER 9
+#define CH7_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
diff --git a/ArduCopter/options.cmake b/ArduCopter/options.cmake
index a0c899bff..b96c27067 100644
--- a/ArduCopter/options.cmake
+++ b/ArduCopter/options.cmake
@@ -159,7 +159,8 @@ apm_option("CH7_OPTION" TYPE STRING
"CH7_DO_NOTHING"
"CH7_SAVE_WP"
"CH7_DO_NOTHING"
- "CH7_CAMERA_TRIGGER")
+ "CH7_CAMERA_TRIGGER"
+ "CH7_SONAR")
apm_option("ACCEL_ALT_HOLD" TYPE BOOL ADVANCED
DESCRIPTION "Disabled by default, work in progress."
--
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