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RC_Channel: add disarm aux switch RCn_OPTION=81

c415-sdk
Tatsuya Yamaguchi 5 years ago committed by Randy Mackay
parent
875fa36018
commit
4fdd24ecd3
2 changed files with 22 additions and 3 deletions
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  1. 23
      libraries/RC_Channel/RC_Channel.cpp
  2. 2
      libraries/RC_Channel/RC_Channel.h

23
libraries/RC_Channel/RC_Channel.cpp
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@ -92,9 +92,9 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: OPTION // @Param: OPTION
// @DisplayName: RC input option // @DisplayName: RC input option
// @Description: Function assigned to this RC channel // @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, 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, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle // @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, 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, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81: Disarm, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 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, 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, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 100:KillIMU1, 101:KillIMU2, 207:MainSail, 102:Camera Mode Toggle // @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 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, 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, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81: Disarm, 100:KillIMU1, 101:KillIMU2, 207:MainSail, 102:Camera Mode Toggle
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 100:KillIMU1, 101:KillIMU2, 208:Flap, 102:Camera Mode Toggle // @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81: Disarm, 100:KillIMU1, 101:KillIMU2, 208:Flap, 102:Camera Mode Toggle
// @User: Standard // @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE), AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE),
@ -455,6 +455,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
case AUX_FUNC::CAMERA_TRIGGER: case AUX_FUNC::CAMERA_TRIGGER:
case AUX_FUNC::CLEAR_WP: case AUX_FUNC::CLEAR_WP:
case AUX_FUNC::COMPASS_LEARN: case AUX_FUNC::COMPASS_LEARN:
case AUX_FUNC::DISARM:
case AUX_FUNC::DO_NOTHING: case AUX_FUNC::DO_NOTHING:
case AUX_FUNC::LANDING_GEAR: case AUX_FUNC::LANDING_GEAR:
case AUX_FUNC::LOST_VEHICLE_SOUND: case AUX_FUNC::LOST_VEHICLE_SOUND:
@ -831,6 +832,12 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_armdisarm(ch_flag); do_aux_function_armdisarm(ch_flag);
break; break;
case AUX_FUNC::DISARM:
if (ch_flag == HIGH) {
AP::arming().disarm(AP_Arming::Method::AUXSWITCH);
}
break;
case AUX_FUNC::COMPASS_LEARN: case AUX_FUNC::COMPASS_LEARN:
if (ch_flag == HIGH) { if (ch_flag == HIGH) {
Compass &compass = AP::compass(); Compass &compass = AP::compass();
@ -980,6 +987,16 @@ bool RC_Channel::read_3pos_switch(RC_Channel::aux_switch_pos_t &ret) const
return true; return true;
} }
// return switch position value as LOW, MIDDLE, HIGH
// if reading the switch fails then it returns LOW
RC_Channel::aux_switch_pos_t RC_Channel::get_aux_switch_pos() const
{
aux_switch_pos_t position = aux_switch_pos_t::LOW;
UNUSED_RESULT(read_3pos_switch(position));
return position;
}
RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option) RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)
{ {
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) { for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {

2
libraries/RC_Channel/RC_Channel.h
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@ -178,6 +178,7 @@ public:
RUNCAM_CONTROL = 78, // control RunCam device RUNCAM_CONTROL = 78, // control RunCam device
RUNCAM_OSD_CONTROL = 79, // control RunCam OSD RUNCAM_OSD_CONTROL = 79, // control RunCam OSD
VISODOM_CALIBRATE = 80, // calibrate visual odometry camera's attitude VISODOM_CALIBRATE = 80, // calibrate visual odometry camera's attitude
DISARM = 81, // disarm vehicle
KILL_IMU1 = 100, // disable first IMU (for IMU failure testing) KILL_IMU1 = 100, // disable first IMU (for IMU failure testing)
KILL_IMU2 = 101, // disable second IMU (for IMU failure testing) KILL_IMU2 = 101, // disable second IMU (for IMU failure testing)
CAM_MODE_TOGGLE = 102, // Momentary switch to cycle camera modes CAM_MODE_TOGGLE = 102, // Momentary switch to cycle camera modes
@ -200,6 +201,7 @@ public:
}; };
bool read_3pos_switch(aux_switch_pos_t &ret) const WARN_IF_UNUSED; bool read_3pos_switch(aux_switch_pos_t &ret) const WARN_IF_UNUSED;
aux_switch_pos_t get_aux_switch_pos() const;
protected: protected:

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