From cf6fe205d20307280e9bc6d3979748e809ef7900 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 19 Oct 2023 09:21:34 +1100
Subject: [PATCH] AP_Scripting: make 2-position switch easier for quicktune

this allows for low/high instead of low/mid for quicktune with a 2
position switch such as with a herelink transmitter
---
 .../AP_Scripting/applets/VTOL-quicktune.lua   | 25 ++++++++++++++++---
 .../AP_Scripting/applets/VTOL-quicktune.md    | 16 ++++++++++++
 2 files changed, 37 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.lua b/libraries/AP_Scripting/applets/VTOL-quicktune.lua
index 9f76241981a88..4ddd6bd782437 100644
--- a/libraries/AP_Scripting/applets/VTOL-quicktune.lua
+++ b/libraries/AP_Scripting/applets/VTOL-quicktune.lua
@@ -37,7 +37,7 @@ function bind_add_param(name, idx, default_value)
 end
 
 -- setup quicktune specific parameters
-assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 13), 'could not add param table')
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 14), 'could not add param table')
 
 --[[
   // @Param: QUIK_ENABLE
@@ -158,6 +158,17 @@ local QUIK_RC_FUNC     = bind_add_param('RC_FUNC',       12, 300)
 --]]
 local QUIK_MAX_REDUCE  = bind_add_param('MAX_REDUCE',    13, 20)
 
+--[[
+  // @Param: QUIK_OPTIONS
+  // @DisplayName: Quicktune options
+  // @Description: Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.
+  // @Bitmask: 0:UseTwoPositionSwitch
+  // @User: Standard
+--]]
+local QUIK_OPTIONS     = bind_add_param('OPTIONS',       14, 0)
+
+local OPTIONS_TWO_POSITION = (1<<0)
+
 local INS_GYRO_FILTER  = bind_param("INS_GYRO_FILTER")
 
 local RCMAP_ROLL       = bind_param("RCMAP_ROLL")
@@ -490,7 +501,13 @@ function update()
    if not sw_pos then
       return
    end
-   if sw_pos == 1 and (not arming:is_armed() or not vehicle:get_likely_flying()) and get_time() > last_warning + 5 then
+   local sw_pos_tune = 1
+   local sw_pos_save = 2
+   if (QUIK_OPTIONS:get() & OPTIONS_TWO_POSITION) ~= 0 then
+      sw_pos_tune = 2
+      sw_pos_save = -1
+   end
+   if sw_pos == sw_pos_tune and (not arming:is_armed() or not vehicle:get_likely_flying()) and get_time() > last_warning + 5 then
       gcs:send_text(MAV_SEVERITY_EMERGENCY, string.format("Tuning: Must be flying to tune"))
       last_warning = get_time()
       return
@@ -506,7 +523,7 @@ function update()
       reset_axes_done()
       return
    end
-   if sw_pos == 2 then
+   if sw_pos == sw_pos_save then
       -- save all params
       if need_restore then
          need_restore = false
@@ -514,7 +531,7 @@ function update()
          gcs:send_text(MAV_SEVERITY_NOTICE, string.format("Tuning: saved"))
       end
    end
-   if sw_pos ~= 1 then
+   if sw_pos ~= sw_pos_tune then
       return
    end
 
diff --git a/libraries/AP_Scripting/applets/VTOL-quicktune.md b/libraries/AP_Scripting/applets/VTOL-quicktune.md
index 41b07e7acaa8a..950b552c07f5c 100644
--- a/libraries/AP_Scripting/applets/VTOL-quicktune.md
+++ b/libraries/AP_Scripting/applets/VTOL-quicktune.md
@@ -166,3 +166,19 @@ values. Parameters will also be reverted if you disarm before saving.
 
 If the pilot gives roll, pitch or yaw input while tuning then the tune
 is paused until 4 seconds after the pilot input stops.
+
+# Using a Two Position Switch
+
+Some transitters only have 2 position switches, with no 3 position
+switches available. To support quicktune with a 2 position switch
+please set the following:
+
+ - set QUIK_OPTIONS to 1 to indicate the use of a 2 position switch
+ - set QUIK_AUTO_SAVE to 10 to automatically save the tune 10 seconds after tuning is done
+
+with these two options the tuning will start when the switch gives a
+PWM value of over 1800. Ten seconds after tuning is complete the tune
+will automatically save.
+
+
+