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143 lines
4.2 KiB
143 lines
4.2 KiB
#include "Plane.h" |
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#include "RC_Channel.h" |
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// defining these two macros and including the RC_Channels_VarInfo |
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// header defines the parameter information common to all vehicle |
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// types |
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#define RC_CHANNELS_SUBCLASS RC_Channels_Plane |
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#define RC_CHANNEL_SUBCLASS RC_Channel_Plane |
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#include <RC_Channel/RC_Channels_VarInfo.h> |
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// note that this callback is not presently used on Plane: |
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int8_t RC_Channels_Plane::flight_mode_channel_number() const |
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{ |
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return plane.g.flight_mode_channel.get(); |
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} |
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bool RC_Channels_Plane::has_valid_input() const |
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{ |
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if (plane.failsafe.rc_failsafe) { |
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return false; |
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} |
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if (plane.failsafe.throttle_counter != 0) { |
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return false; |
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} |
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return true; |
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} |
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RC_Channel * RC_Channels_Plane::get_arming_channel(void) const |
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{ |
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return plane.channel_rudder; |
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} |
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void RC_Channel_Plane::do_aux_function_change_mode(const Mode::Number number, |
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const aux_switch_pos_t ch_flag) |
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{ |
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switch(ch_flag) { |
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case HIGH: { |
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// engage mode (if not possible we remain in current flight mode) |
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const bool success = plane.set_mode_by_number(number, ModeReason::RC_COMMAND); |
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if (plane.control_mode != &plane.mode_initializing) { |
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if (success) { |
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AP_Notify::events.user_mode_change = 1; |
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} else { |
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AP_Notify::events.user_mode_change_failed = 1; |
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} |
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} |
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break; |
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} |
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default: |
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// return to flight mode switch's flight mode if we are currently |
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// in this mode |
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if (plane.control_mode->mode_number() == number) { |
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// TODO: rc().reset_mode_switch(); |
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plane.reset_control_switch(); |
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} |
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} |
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} |
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void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option, |
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const RC_Channel::aux_switch_pos_t ch_flag) |
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{ |
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switch(ch_option) { |
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// the following functions do not need to be initialised: |
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case AUX_FUNC::AUTO: |
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case AUX_FUNC::CIRCLE: |
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case AUX_FUNC::FLAP: |
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case AUX_FUNC::GUIDED: |
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case AUX_FUNC::INVERTED: |
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case AUX_FUNC::LOITER: |
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case AUX_FUNC::MANUAL: |
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case AUX_FUNC::RTL: |
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case AUX_FUNC::TAKEOFF: |
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break; |
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case AUX_FUNC::REVERSE_THROTTLE: |
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plane.have_reverse_throttle_rc_option = true; |
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// setup input throttle as a range. This is needed as init_aux_function is called |
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// after set_control_channels() |
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if (plane.channel_throttle) { |
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plane.channel_throttle->set_range(100); |
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} |
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// note that we don't call do_aux_function() here as we don't |
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// want to startup with reverse thrust |
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break; |
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default: |
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// handle in parent class |
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RC_Channel::init_aux_function(ch_option, ch_flag); |
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break; |
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} |
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} |
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// do_aux_function - implement the function invoked by auxillary switches |
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void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag) |
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{ |
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switch(ch_option) { |
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case AUX_FUNC::INVERTED: |
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plane.inverted_flight = (ch_flag == HIGH); |
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break; |
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case AUX_FUNC::REVERSE_THROTTLE: |
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plane.reversed_throttle = (ch_flag == HIGH); |
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gcs().send_text(MAV_SEVERITY_INFO, "RevThrottle: %s", plane.reversed_throttle?"ENABLE":"DISABLE"); |
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break; |
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case AUX_FUNC::AUTO: |
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do_aux_function_change_mode(Mode::Number::AUTO, ch_flag); |
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break; |
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case AUX_FUNC::CIRCLE: |
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do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag); |
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break; |
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case AUX_FUNC::LOITER: |
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do_aux_function_change_mode(Mode::Number::LOITER, ch_flag); |
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break; |
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case AUX_FUNC::GUIDED: |
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do_aux_function_change_mode(Mode::Number::GUIDED, ch_flag); |
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break; |
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case AUX_FUNC::MANUAL: |
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do_aux_function_change_mode(Mode::Number::MANUAL, ch_flag); |
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break; |
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case AUX_FUNC::RTL: |
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do_aux_function_change_mode(Mode::Number::RTL, ch_flag); |
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break; |
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case AUX_FUNC::TAKEOFF: |
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do_aux_function_change_mode(Mode::Number::TAKEOFF, ch_flag); |
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break; |
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case AUX_FUNC::FLAP: |
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break; // flap input label, nothing to do |
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default: |
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RC_Channel::do_aux_function(ch_option, ch_flag); |
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break; |
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} |
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}
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