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rtl rc disable

master
z 5 years ago
parent
0d1bc2ea4e
commit
3c55f5276f
8 changed files with 27 additions and 26 deletions
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  1. 13
      ArduCopter/UserCode.cpp
  2. 4
      ArduCopter/mode.cpp
  3. 6
      ArduCopter/mode_auto.cpp
  4. 8
      ArduCopter/mode_rtl.cpp
  5. 2
      ArduCopter/version.h
  6. 2
      libraries/RC_Channel/RC_Channel.cpp
  7. 16
      libraries/RC_Channel/RC_Channel.h
  8. 2
      zr_version

13
ArduCopter/UserCode.cpp
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@ -10,6 +10,7 @@ void Copter::userhook_init()
// this will be called once at start-up // this will be called once at start-up
relay.on(1); relay.on(1);
set_mode(Mode::Number::LOITER, ModeReason::STARTUP);
} }
#endif #endif
@ -85,15 +86,15 @@ void Copter::userhook_SuperSlowLoop()
if(motors->armed()){ if(motors->armed()){
before_fly = false; before_fly = false;
relay.on(3); relay.on(3);
if (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND){ // if (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND){
rc().set_disable_ch(); // rc().set_disable_ch();
}else{ // }else{
rc().set_enable_ch(); // rc().set_enable_ch();
} // }
}else{ }else{
relay.off(3); relay.off(3);
rc().set_enable_ch(); // rc().set_enable_ch();
updownStatus =UpDown_TakeOffStart; updownStatus =UpDown_TakeOffStart;
mavlink_zr_flying_status_t zr_flying_status_t; mavlink_zr_flying_status_t zr_flying_status_t;
zr_flying_status_t.updown_status = updownStatus; zr_flying_status_t.updown_status = updownStatus;

4
ArduCopter/mode.cpp
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@ -633,8 +633,8 @@ void Mode::land_run_horizontal_control()
} }
#endif #endif
static uint8_t prt_once; static uint8_t prt_once;
// bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 2) && copter.rangefinder_alt_ok() && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND); bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 2) && copter.rangefinder_alt_ok() && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND);
bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 4) && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND); // bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 4) && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND);
if(land_lock_attitude) if(land_lock_attitude)
{ {
if(prt_once == 0) if(prt_once == 0)

6
ArduCopter/mode_auto.cpp
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@ -808,7 +808,7 @@ void ModeAuto::wp_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!copter.failsafe.radio) { if (!copter.failsafe.radio) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD); auto_yaw.set_mode(AUTO_YAW_HOLD);
} }
@ -855,7 +855,7 @@ void ModeAuto::spline_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!copter.failsafe.radio) { if (!copter.failsafe.radio) {
// get pilot's desired yaw rat // get pilot's desired yaw rat
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD); auto_yaw.set_mode(AUTO_YAW_HOLD);
} }
@ -951,7 +951,7 @@ void ModeAuto::loiter_run()
// accept pilot input of yaw // accept pilot input of yaw
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!copter.failsafe.radio) { if (!copter.failsafe.radio) {
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
} }
// set motors to full range // set motors to full range

8
ArduCopter/mode_rtl.cpp
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@ -197,7 +197,7 @@ void ModeRTL::climb_return_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!copter.failsafe.radio) { if (!copter.failsafe.radio) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD); auto_yaw.set_mode(AUTO_YAW_HOLD);
} }
@ -254,7 +254,7 @@ void ModeRTL::loiterathome_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
if (!copter.failsafe.radio) { if (!copter.failsafe.radio) {
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) { if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD); auto_yaw.set_mode(AUTO_YAW_HOLD);
} }
@ -342,7 +342,7 @@ void ModeRTL::descent_run()
update_simple_mode(); update_simple_mode();
// convert pilot input to lean angles // convert pilot input to lean angles
get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max()); // get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
// record if pilot has overridden roll or pitch // record if pilot has overridden roll or pitch
if (!is_zero(target_roll) || !is_zero(target_pitch)) { if (!is_zero(target_roll) || !is_zero(target_pitch)) {
@ -354,7 +354,7 @@ void ModeRTL::descent_run()
} }
// get pilot's desired yaw rate // get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
} }
// set motors to full range // set motors to full range

2
ArduCopter/version.h
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@ -6,7 +6,7 @@
#include "ap_version.h" #include "ap_version.h"
#define THISFIRMWARE "ZRUAV v4.0.4-rc1.1" //"ArduCopter V4.0.0" #define THISFIRMWARE "ZRUAV v4.0.4-rc1.2" //"ArduCopter V4.0.0"
// the following line is parsed by the autotest scripts // the following line is parsed by the autotest scripts
#define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL #define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL

2
libraries/RC_Channel/RC_Channel.cpp
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@ -136,7 +136,7 @@ RC_Channel::update(void)
if (has_override() && !rc().ignore_overrides()) { if (has_override() && !rc().ignore_overrides()) {
radio_in = override_value; radio_in = override_value;
} else if (!rc().ignore_receiver()) { } else if (!rc().ignore_receiver()) {
if(rc().ignore_ctrl_channel() && !rc().is_enable_ch(ch_in)){ if(rc().ignore_ctrl_channel() && ch_in < 6){
return false; return false;
}else{ }else{
radio_in = hal.rcin->read(ch_in); radio_in = hal.rcin->read(ch_in);

16
libraries/RC_Channel/RC_Channel.h
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@ -343,16 +343,16 @@ public:
return _options & uint32_t(Option::IGNORE_CTRLCHAN); return _options & uint32_t(Option::IGNORE_CTRLCHAN);
} }
bool is_enable_ch(uint8_t ch) const { bool is_enable_ch(uint8_t num) const {
return (_enable_ch == (ch+1) ); return (_enable_ch == (num+1) );
} }
void set_disable_ch() { // void set_disable_ch() {
_options = uint32_t(Option::IGNORE_CTRLCHAN); // _options = uint32_t(Option::IGNORE_CTRLCHAN);
} // }
void set_enable_ch() { // void set_enable_ch() {
_options = 0; // _options = 0;
} // }
float override_timeout_ms() const { float override_timeout_ms() const {
return _override_timeout.get() * 1e3f; return _override_timeout.get() * 1e3f;

2
zr_version
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@ -9,7 +9,7 @@ v4.0.3: 快速解锁
v4.0.4： 分阶段降落，光流门限，限制GPS切换 _nunber_to_switch, v4.0.4： 分阶段降落，光流门限，限制GPS切换 _nunber_to_switch,
rc1.1 降落倒计时，状态码刷新，测距日志增加，智能电池压差 rc1.1 降落倒计时，状态码刷新，测距日志增加，智能电池压差
rc1.2 降落锁定遥控,初始切定点,提示HOME点更新

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