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Copter: Change Aux Switch function list to enum.

mission-4.1.18
Robert Lefebvre 10 years ago committed by Randy Mackay
parent
a5af151a91
commit
97cd3614eb
6 changed files with 88 additions and 85 deletions
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  1. 34
      ArduCopter/ArduCopter.pde
  2. 12
      ArduCopter/config.h
  3. 2
      ArduCopter/control_flip.pde
  4. 31
      ArduCopter/defines.h
  5. 2
      ArduCopter/landing_gear.pde
  6. 92
      ArduCopter/switches.pde

34
ArduCopter/ArduCopter.pde
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@ -361,6 +361,40 @@ static union { @@ -361,6 +361,40 @@ static union {
uint32_t value;
} ap;
// Aux Switch enumeration
enum aux_sw_func {
AUXSW_DO_NOTHING = 0, // aux switch disabled
AUXSW_SET_HOVER, // deprecated
AUXSW_FLIP, // flip
AUXSW_SIMPLE_MODE, // change to simple mode
AUXSW_RTL, // change to RTL flight mode
AUXSW_SAVE_TRIM, // save current position as level
AUXSW_ADC_FILTER, // deprecated
AUXSW_SAVE_WP, // save mission waypoint or RTL if in auto mode
AUXSW_MULTI_MODE, // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
AUXSW_CAMERA_TRIGGER, // trigger camera servo or relay
AUXSW_SONAR, // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
AUXSW_FENCE, // allow enabling or disabling fence in flight
AUXSW_RESETTOARMEDYAW, // changes yaw to be same as when quad was armed
AUXSW_SUPERSIMPLE_MODE, // change to simple mode in middle, super simple at top
AUXSW_ACRO_TRAINER, // low = disabled, middle = leveled, high = leveled and limited
AUXSW_SPRAYER, // enable/disable the crop sprayer
AUXSW_AUTO, // change to auto flight mode
AUXSW_AUTOTUNE, // auto tune
AUXSW_LAND, // change to LAND flight mode
AUXSW_EPM, // Operate the EPM cargo gripper low=off, middle=neutral, high=on
AUXSW_EKF, // Deprecated
AUXSW_PARACHUTE_ENABLE, // Parachute enable/disable
AUXSW_PARACHUTE_RELEASE, // Parachute release
AUXSW_PARACHUTE_3POS, // Parachute disable, enable, release with 3 position switch
AUXSW_MISSION_RESET, // Reset auto mission to start from first command
AUXSW_ATTCON_FEEDFWD, // enable/disable the roll and pitch rate feed forward
AUXSW_ATTCON_ACCEL_LIM, // enable/disable the roll, pitch and yaw accel limiting
AUXSW_RETRACT_MOUNT, // Retract Mount
AUXSW_RELAY, // Relay pin on/off (only supports first relay)
AUXSW_LANDING_GEAR, // Landing gear controller
};
////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////

12
ArduCopter/config.h
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@ -184,27 +184,27 @@ @@ -184,27 +184,27 @@
//
#ifndef CH7_OPTION
# define CH7_OPTION AUX_SWITCH_DO_NOTHING
# define CH7_OPTION AUXSW_DO_NOTHING
#endif
#ifndef CH8_OPTION
# define CH8_OPTION AUX_SWITCH_DO_NOTHING
# define CH8_OPTION AUXSW_DO_NOTHING
#endif
#ifndef CH9_OPTION
# define CH9_OPTION AUX_SWITCH_DO_NOTHING
# define CH9_OPTION AUXSW_DO_NOTHING
#endif
#ifndef CH10_OPTION
# define CH10_OPTION AUX_SWITCH_DO_NOTHING
# define CH10_OPTION AUXSW_DO_NOTHING
#endif
#ifndef CH11_OPTION
# define CH11_OPTION AUX_SWITCH_DO_NOTHING
# define CH11_OPTION AUXSW_DO_NOTHING
#endif
#ifndef CH12_OPTION
# define CH12_OPTION AUX_SWITCH_DO_NOTHING
# define CH12_OPTION AUXSW_DO_NOTHING
#endif
//////////////////////////////////////////////////////////////////////////////

2
ArduCopter/control_flip.pde
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@ -6,7 +6,7 @@ @@ -6,7 +6,7 @@
* Adapted and updated for AC2 in 2011 by Jason Short
*
* Controls:
* CH7_OPT - CH12_OPT parameter must be set to "Flip" (AUX_SWITCH_FLIP) which is "2"
* CH7_OPT - CH12_OPT parameter must be set to "Flip" (AUXSW_FLIP) which is "2"
* Pilot switches to Stabilize, Acro or AltHold flight mode and puts ch7/ch8 switch to ON position
* Vehicle will Roll right by default but if roll or pitch stick is held slightly left, forward or back it will flip in that direction
* Vehicle should complete the roll within 2.5sec and will then return to the original flight mode it was in before flip was triggered

31
ArduCopter/defines.h
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@ -28,37 +28,6 @@ @@ -28,37 +28,6 @@
#define CH6_PWM_TRIGGER_HIGH 1800
#define CH6_PWM_TRIGGER_LOW 1200
#define AUX_SWITCH_DO_NOTHING 0 // aux switch disabled
#define AUX_SWITCH_SET_HOVER 1 // deprecated
#define AUX_SWITCH_FLIP 2 // flip
#define AUX_SWITCH_SIMPLE_MODE 3 // change to simple mode
#define AUX_SWITCH_RTL 4 // change to RTL flight mode
#define AUX_SWITCH_SAVE_TRIM 5 // save current position as level
#define AUX_SWITCH_ADC_FILTER 6 // deprecated
#define AUX_SWITCH_SAVE_WP 7 // save mission waypoint or RTL if in auto mode
#define AUX_SWITCH_MULTI_MODE 8 // depending upon CH6 position Flip (if ch6 is low), RTL (if ch6 in middle) or Save WP (if ch6 is high)
#define AUX_SWITCH_CAMERA_TRIGGER 9 // trigger camera servo or relay
#define AUX_SWITCH_SONAR 10 // allow enabling or disabling sonar in flight which helps avoid surface tracking when you are far above the ground
#define AUX_SWITCH_FENCE 11 // allow enabling or disabling fence in flight
#define AUX_SWITCH_RESETTOARMEDYAW 12 // changes yaw to be same as when quad was armed
#define AUX_SWITCH_SUPERSIMPLE_MODE 13 // change to simple mode in middle, super simple at top
#define AUX_SWITCH_ACRO_TRAINER 14 // low = disabled, middle = leveled, high = leveled and limited
#define AUX_SWITCH_SPRAYER 15 // enable/disable the crop sprayer
#define AUX_SWITCH_AUTO 16 // change to auto flight mode
#define AUX_SWITCH_AUTOTUNE 17 // auto tune
#define AUX_SWITCH_LAND 18 // change to LAND flight mode
#define AUX_SWITCH_EPM 19 // Operate the EPM cargo gripper low=off, middle=neutral, high=on
#define AUX_SWITCH_EKF 20 // deprecated
#define AUX_SWITCH_PARACHUTE_ENABLE 21 // Parachute enable/disable
#define AUX_SWITCH_PARACHUTE_RELEASE 22 // Parachute release
#define AUX_SWITCH_PARACHUTE_3POS 23 // Parachute disable, enable, release with 3 position switch
#define AUX_SWITCH_MISSIONRESET 24 // Reset auto mission to start from first command
#define AUX_SWITCH_ATTCON_FEEDFWD 25 // enable/disable the roll and pitch rate feed forward
#define AUX_SWITCH_ATTCON_ACCEL_LIM 26 // enable/disable the roll, pitch and yaw accel limiting
#define AUX_SWITCH_RETRACT_MOUNT 27 // Retract Mount
#define AUX_SWITCH_RELAY 28 // Relay pin on/off (only supports first relay)
#define AUX_SWITCH_LANDING_GEAR 29 // Landing gear controller
// values used by the ap.ch7_opt and ap.ch8_opt flags
#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)
#define AUX_SWITCH_MIDDLE 1 // indicates auxiliar switch is in the middle position (pwm >1200, <1800)

2
ArduCopter/landing_gear.pde
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@ -4,7 +4,7 @@ @@ -4,7 +4,7 @@
static void landinggear_update(){
// If landing gear control is active, run update function.
if (g.ch7_option == AUX_SWITCH_LANDING_GEAR || g.ch8_option == AUX_SWITCH_LANDING_GEAR ){
if (g.ch7_option == AUXSW_LANDING_GEAR || g.ch8_option == AUXSW_LANDING_GEAR ){
// last status (deployed or retracted) used to check for changes
static bool last_deploy_status;

92
ArduCopter/switches.pde
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@ -36,7 +36,7 @@ static void read_control_switch() @@ -36,7 +36,7 @@ static void read_control_switch()
}
}
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE && g.ch7_option != AUX_SWITCH_SUPERSIMPLE_MODE && g.ch8_option != AUX_SWITCH_SUPERSIMPLE_MODE) {
if(g.ch7_option != AUXSW_SIMPLE_MODE && g.ch8_option != AUXSW_SIMPLE_MODE && g.ch7_option != AUXSW_SUPERSIMPLE_MODE && g.ch8_option != AUXSW_SUPERSIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
if (BIT_IS_SET(g.super_simple, switch_position)) {
@ -166,22 +166,22 @@ static void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag) @@ -166,22 +166,22 @@ static void init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
{
// init channel options
switch(ch_option) {
case AUX_SWITCH_SIMPLE_MODE:
case AUX_SWITCH_SONAR:
case AUX_SWITCH_FENCE:
case AUX_SWITCH_RESETTOARMEDYAW:
case AUX_SWITCH_SUPERSIMPLE_MODE:
case AUX_SWITCH_ACRO_TRAINER:
case AUX_SWITCH_EPM:
case AUX_SWITCH_SPRAYER:
case AUX_SWITCH_PARACHUTE_ENABLE:
case AUX_SWITCH_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUX_SWITCH_RETRACT_MOUNT:
case AUX_SWITCH_MISSIONRESET:
case AUX_SWITCH_ATTCON_FEEDFWD:
case AUX_SWITCH_ATTCON_ACCEL_LIM:
case AUX_SWITCH_RELAY:
case AUX_SWITCH_LANDING_GEAR:
case AUXSW_SIMPLE_MODE:
case AUXSW_SONAR:
case AUXSW_FENCE:
case AUXSW_RESETTOARMEDYAW:
case AUXSW_SUPERSIMPLE_MODE:
case AUXSW_ACRO_TRAINER:
case AUXSW_EPM:
case AUXSW_SPRAYER:
case AUXSW_PARACHUTE_ENABLE:
case AUXSW_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUXSW_RETRACT_MOUNT:
case AUXSW_MISSION_RESET:
case AUXSW_ATTCON_FEEDFWD:
case AUXSW_ATTCON_ACCEL_LIM:
case AUXSW_RELAY:
case AUXSW_LANDING_GEAR:
do_aux_switch_function(ch_option, ch_flag);
break;
}
@ -193,35 +193,35 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -193,35 +193,35 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
int8_t tmp_function = ch_function;
// multi mode check
if(ch_function == AUX_SWITCH_MULTI_MODE) {
if(ch_function == AUXSW_MULTI_MODE) {
if (g.rc_6.radio_in < CH6_PWM_TRIGGER_LOW) {
tmp_function = AUX_SWITCH_FLIP;
tmp_function = AUXSW_FLIP;
}else if (g.rc_6.radio_in > CH6_PWM_TRIGGER_HIGH) {
tmp_function = AUX_SWITCH_SAVE_WP;
tmp_function = AUXSW_SAVE_WP;
}else{
tmp_function = AUX_SWITCH_RTL;
tmp_function = AUXSW_RTL;
}
}
switch(tmp_function) {
case AUX_SWITCH_FLIP:
case AUXSW_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if(ch_flag == AUX_SWITCH_HIGH) {
set_mode(FLIP);
}
break;
case AUX_SWITCH_SIMPLE_MODE:
case AUXSW_SIMPLE_MODE:
// low = simple mode off, middle or high position turns simple mode on
set_simple_mode(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
break;
case AUX_SWITCH_SUPERSIMPLE_MODE:
case AUXSW_SUPERSIMPLE_MODE:
// low = simple mode off, middle = simple mode, high = super simple mode
set_simple_mode(ch_flag);
break;
case AUX_SWITCH_RTL:
case AUXSW_RTL:
if (ch_flag == AUX_SWITCH_HIGH) {
// engage RTL (if not possible we remain in current flight mode)
set_mode(RTL);
@ -233,13 +233,13 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -233,13 +233,13 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
}
break;
case AUX_SWITCH_SAVE_TRIM:
case AUXSW_SAVE_TRIM:
if ((ch_flag == AUX_SWITCH_HIGH) && (control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
save_trim();
}
break;
case AUX_SWITCH_SAVE_WP:
case AUXSW_SAVE_WP:
// save waypoint when switch is brought high
if (ch_flag == AUX_SWITCH_HIGH) {
@ -294,14 +294,14 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -294,14 +294,14 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#if CAMERA == ENABLED
case AUX_SWITCH_CAMERA_TRIGGER:
case AUXSW_CAMERA_TRIGGER:
if (ch_flag == AUX_SWITCH_HIGH) {
do_take_picture();
}
break;
#endif
case AUX_SWITCH_SONAR:
case AUXSW_SONAR:
// enable or disable the sonar
#if CONFIG_SONAR == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
@ -313,7 +313,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -313,7 +313,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#if AC_FENCE == ENABLED
case AUX_SWITCH_FENCE:
case AUXSW_FENCE:
// enable or disable the fence
if (ch_flag == AUX_SWITCH_HIGH) {
fence.enable(true);
@ -325,7 +325,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -325,7 +325,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#endif
// To-Do: add back support for this feature
//case AUX_SWITCH_RESETTOARMEDYAW:
//case AUXSW_RESETTOARMEDYAW:
// if (ch_flag == AUX_SWITCH_HIGH) {
// set_yaw_mode(YAW_RESETTOARMEDYAW);
// }else{
@ -333,7 +333,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -333,7 +333,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
// }
// break;
case AUX_SWITCH_ACRO_TRAINER:
case AUXSW_ACRO_TRAINER:
switch(ch_flag) {
case AUX_SWITCH_LOW:
g.acro_trainer = ACRO_TRAINER_DISABLED;
@ -350,7 +350,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -350,7 +350,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
}
break;
#if EPM_ENABLED == ENABLED
case AUX_SWITCH_EPM:
case AUXSW_EPM:
switch(ch_flag) {
case AUX_SWITCH_LOW:
epm.release();
@ -364,14 +364,14 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -364,14 +364,14 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#endif
#if SPRAYER == ENABLED
case AUX_SWITCH_SPRAYER:
case AUXSW_SPRAYER:
sprayer.enable(ch_flag == AUX_SWITCH_HIGH);
// if we are disarmed the pilot must want to test the pump
sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors.armed());
break;
#endif
case AUX_SWITCH_AUTO:
case AUXSW_AUTO:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(AUTO);
}else{
@ -383,7 +383,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -383,7 +383,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUX_SWITCH_AUTOTUNE:
case AUXSW_AUTOTUNE:
// turn on auto tuner
switch(ch_flag) {
case AUX_SWITCH_LOW:
@ -401,7 +401,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -401,7 +401,7 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#endif
case AUX_SWITCH_LAND:
case AUXSW_LAND:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(LAND);
}else{
@ -413,18 +413,18 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -413,18 +413,18 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#if PARACHUTE == ENABLED
case AUX_SWITCH_PARACHUTE_ENABLE:
case AUXSW_PARACHUTE_ENABLE:
// Parachute enable/disable
parachute.enabled(ch_flag == AUX_SWITCH_HIGH);
break;
case AUX_SWITCH_PARACHUTE_RELEASE:
case AUXSW_PARACHUTE_RELEASE:
if (ch_flag == AUX_SWITCH_HIGH) {
parachute_manual_release();
}
break;
case AUX_SWITCH_PARACHUTE_3POS:
case AUXSW_PARACHUTE_3POS:
// Parachute disable, enable, release with 3 position switch
switch (ch_flag) {
case AUX_SWITCH_LOW:
@ -443,24 +443,24 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -443,24 +443,24 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#endif
case AUX_SWITCH_MISSIONRESET:
case AUXSW_MISSION_RESET:
if (ch_flag == AUX_SWITCH_HIGH) {
mission.reset();
}
break;
case AUX_SWITCH_ATTCON_FEEDFWD:
case AUXSW_ATTCON_FEEDFWD:
// enable or disable feed forward
attitude_control.bf_feedforward(ch_flag == AUX_SWITCH_HIGH);
break;
case AUX_SWITCH_ATTCON_ACCEL_LIM:
case AUXSW_ATTCON_ACCEL_LIM:
// enable or disable accel limiting by restoring defaults
attitude_control.accel_limiting(ch_flag == AUX_SWITCH_HIGH);
break;
#if MOUNT == ENABLE
case AUX_SWITCH_RETRACT_MOUNT:
case AUXSW_RETRACT_MOUNT:
switch (ch_flag) {
case AUX_SWITCH_HIGH:
camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
@ -472,11 +472,11 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag) @@ -472,11 +472,11 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
#endif
case AUX_SWITCH_RELAY:
case AUXSW_RELAY:
ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
break;
case AUX_SWITCH_LANDING_GEAR:
case AUXSW_LANDING_GEAR:
switch (ch_flag) {
case AUX_SWITCH_LOW:
landinggear.set_cmd_mode(LandingGear_Deploy);

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