ArduPlane: add inflight airspeed cal rc switch

mohanbabi · Nov 25, 2020 · 3cdcce2 · 3cdcce2
1 parent f37d8e5
commit 3cdcce2
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Showing 3 changed files with 24 additions and 1 deletion.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -68,7 +68,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(one_second_loop,         1,    400),
     SCHED_TASK(check_long_failsafe,     3,    400),
     SCHED_TASK(rpm_update,             10,    100),
+#if AP_AIRSPEED_AUTOCAL_ENABLE
     SCHED_TASK(airspeed_ratio_update,   1,    100),
+#endif // AP_AIRSPEED_AUTOCAL_ENABLE
 #if HAL_MOUNT_ENABLED
     SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100),
 #endif // HAL_MOUNT_ENABLED
@@ -318,6 +320,7 @@ void Plane::efi_update(void)
 #endif
 }
 
+#if AP_AIRSPEED_AUTOCAL_ENABLE
 /*
   once a second update the airspeed calibration ratio
  */
@@ -346,7 +349,7 @@ void Plane::airspeed_ratio_update(void)
     const Vector3f &vg = gps.velocity();
     airspeed.update_calibration(vg, aparm.airspeed_max);
 }
-
+#endif // AP_AIRSPEED_AUTOCAL_ENABLE
 
 /*
   read the GPS and update position

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -967,7 +967,9 @@ class Plane : public AP_Vehicle {
     void afs_fs_check(void);
 #endif
     void one_second_loop(void);
+#if AP_AIRSPEED_AUTOCAL_ENABLE
     void airspeed_ratio_update(void);
+#endif 
     void compass_save(void);
     void update_logging1(void);
     void update_logging2(void);

diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
@@ -156,6 +156,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
     case AUX_FUNC::Q_ASSIST:
     case AUX_FUNC::SOARING:
     case AUX_FUNC::AIRMODE:
+#if AP_AIRSPEED_AUTOCAL_ENABLE
+    case AUX_FUNC::ARSPD_CALIBRATE:
+#endif
         do_aux_function(ch_option, ch_flag);
         break;
 
@@ -277,6 +280,21 @@ void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwit
         }
         break;
 
+case AUX_FUNC::ARSPD_CALIBRATE:
+#if AP_AIRSPEED_AUTOCAL_ENABLE
+       switch (ch_flag) {
+        case AuxSwitchPos::HIGH:
+            plane.airspeed.set_calibration_enabled(true);
+            break;
+        case AuxSwitchPos::MIDDLE:
+            break;
+        case AuxSwitchPos::LOW:
+            plane.airspeed.set_calibration_enabled(false);
+            break;
+        }
+#endif
+        break;
+
    case AUX_FUNC::LANDING_FLARE:
        do_aux_function_flare(ch_flag);
        break;