Activated SW2 on RC
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4646fb4a94
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19
Src/util.c
19
Src/util.c
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@ -1368,14 +1368,20 @@ void sideboardSensors(uint8_t sensors) {
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// Override in case the Sideboard control is Active
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#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART2)
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if (inIdx == SIDEBOARD_SERIAL_USART2) {
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sensor1_index = 3 + ((Sideboard_L.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
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if (sensor1_index == 3) { // FOC control Type
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sensor1_index = (Sideboard_L.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
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sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge detection
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}
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sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
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sensor1_prev = sensor1_index;
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}
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#endif
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#if defined(DUAL_INPUTS) && defined(SIDEBOARD_SERIAL_USART3)
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if (inIdx == SIDEBOARD_SERIAL_USART3) {
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sensor1_index = 3 + ((Sideboard_R.sensors & SW2_SET) >> 9); // SW2 on RC transmitter is used to change Control Type
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if (sensor1_index == 3) { // FOC control Type
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sensor1_index = (Sideboard_R.sensors & SW3_SET) >> 11; // SW3 on RC transmitter is used to change Control Mode
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}
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sensor1_trig = sensor1_index != sensor1_prev; // rising or falling edge change detection
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sensor1_prev = sensor1_index;
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}
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@ -1385,23 +1391,22 @@ void sideboardSensors(uint8_t sensors) {
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if (sensor1_trig) {
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switch (sensor1_index) {
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case 0: // FOC VOLTAGE
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rtP_Left.z_ctrlTypSel = FOC_CTRL;
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rtP_Right.z_ctrlTypSel = FOC_CTRL;
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rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
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ctrlModReqRaw = VLT_MODE;
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break;
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case 1: // FOC SPEED
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rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
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ctrlModReqRaw = SPD_MODE;
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break;
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case 2: // FOC TORQUE
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rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = FOC_CTRL;
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ctrlModReqRaw = TRQ_MODE;
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break;
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case 3: // SINUSOIDAL
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rtP_Left.z_ctrlTypSel = SIN_CTRL;
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rtP_Right.z_ctrlTypSel = SIN_CTRL;
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rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = SIN_CTRL;
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break;
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case 4: // COMMUTATION
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rtP_Left.z_ctrlTypSel = COM_CTRL;
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rtP_Right.z_ctrlTypSel = COM_CTRL;
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rtP_Left.z_ctrlTypSel = rtP_Right.z_ctrlTypSel = COM_CTRL;
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break;
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}
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beepShortMany(sensor1_index + 1, 1);
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