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RC_Channel: torqeedo clear error aux function

gps-1.3.1
Randy Mackay 3 years ago
parent
d3c8a5e85f
commit
47dd2d7aea
2 changed files with 18 additions and 1 deletions
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  1. 18
      libraries/RC_Channel/RC_Channel.cpp
  2. 1
      libraries/RC_Channel/RC_Channel.h

18
libraries/RC_Channel/RC_Channel.cpp
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@ -45,6 +45,7 @@ extern const AP_HAL::HAL& hal; @@ -45,6 +45,7 @@ extern const AP_HAL::HAL& hal;
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Mount/AP_Mount.h>
#include <AP_VideoTX/AP_VideoTX.h>
#include <AP_Torqeedo/AP_Torqeedo.h>
#define SWITCH_DEBOUNCE_TIME_MS 200
@ -95,7 +96,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = { @@ -95,7 +96,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @DisplayName: RC input option
// @Description: Function assigned to this RC channel
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 152:simple heading reset, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with AirMode (4.2 and higher), 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim (4.1 and lower), 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm (4.2 and higher), 155: set steering trim to current servo and RC, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim (4.1 and lower), 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm (4.2 and higher), 155: set steering trim to current servo and RC, 156:Torqeedo Clear Err, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm (4.1 and lower), 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 150: CRUISE, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with Quadplane AirMode (4.2 and higher), 155: set roll pitch and yaw trim to current servo and RC, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Blimp}: 0:Do Nothing, 18:Land, 46:RC Override Enable, 65:GPS Disable, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 153:ArmDisarm,
// @User: Standard
@ -478,6 +479,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo @@ -478,6 +479,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
case AUX_FUNC::EKF_YAW_RESET:
case AUX_FUNC::GENERATOR: // don't turn generator on or off initially
case AUX_FUNC::EKF_POS_SOURCE:
case AUX_FUNC::TORQEEDO_CLEAR_ERR:
case AUX_FUNC::SCRIPTING_1:
case AUX_FUNC::SCRIPTING_2:
case AUX_FUNC::SCRIPTING_3:
@ -560,6 +562,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = { @@ -560,6 +562,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"},
{ AUX_FUNC::GENERATOR,"Generator"},
{ AUX_FUNC::ARSPD_CALIBRATE,"Calibrate Airspeed"},
{ AUX_FUNC::TORQEEDO_CLEAR_ERR, "Torqeedo Clear Err"},
};
/* lookup the announcement for switch change */
@ -1160,6 +1163,19 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos @@ -1160,6 +1163,19 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
AP::ahrs().request_yaw_reset();
break;
// clear torqeedo error
case AUX_FUNC::TORQEEDO_CLEAR_ERR: {
#if HAL_TORQEEDO_ENABLED
if (ch_flag == AuxSwitchPos::HIGH) {
AP_Torqeedo *torqeedo = AP_Torqeedo::get_singleton();
if (torqeedo != nullptr) {
torqeedo->clear_motor_error();
}
}
#endif
break;
}
case AUX_FUNC::SCRIPTING_1:
case AUX_FUNC::SCRIPTING_2:
case AUX_FUNC::SCRIPTING_3:

1
libraries/RC_Channel/RC_Channel.h
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@ -220,6 +220,7 @@ public: @@ -220,6 +220,7 @@ public:
ARMDISARM = 153, // arm or disarm vehicle
ARMDISARM_AIRMODE = 154, // arm or disarm vehicle enabling airmode
TRIM_TO_CURRENT_SERVO_RC = 155, // trim to current servo and RC
TORQEEDO_CLEAR_ERR = 156, // clear torqeedo error
// inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input

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