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RC_Channel: announce RC switch changes via statustext

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Peter Barker 2020-06-03 11:42:20 +10:00 committed by Peter Barker
parent 0c5d31f40f
commit 040f78f515
2 changed files with 81 additions and 0 deletions
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70
libraries/RC_Channel/RC_Channel.cpp
View File

@ -495,6 +495,56 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
}
}
#if !HAL_MINIMIZE_FEATURES
const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::SAVE_WP,"SaveWaypoint"},
{ AUX_FUNC::CAMERA_TRIGGER,"CameraTrigger"},
{ AUX_FUNC::RANGEFINDER,"Rangefinder"},
{ AUX_FUNC::FENCE,"Fence"},
{ AUX_FUNC::SPRAYER,"Sprayer"},
{ AUX_FUNC::PARACHUTE_ENABLE,"ParachuteEnable"},
{ AUX_FUNC::PARACHUTE_RELEASE,"ParachuteRelease"},
{ AUX_FUNC::PARACHUTE_3POS,"Parachute3Position"},
{ AUX_FUNC::MISSION_RESET,"MissionReset"},
{ AUX_FUNC::RETRACT_MOUNT,"RetractMount"},
{ AUX_FUNC::RELAY,"Relay1"},
{ AUX_FUNC::LANDING_GEAR,"Landing"},
{ AUX_FUNC::MOTOR_INTERLOCK,"MotorInterlock"},
{ AUX_FUNC::RELAY2,"Relay2"},
{ AUX_FUNC::RELAY3,"Relay3"},
{ AUX_FUNC::RELAY4,"Relay4"},
{ AUX_FUNC::PRECISION_LOITER,"PrecisionLoiter"},
{ AUX_FUNC::AVOID_PROXIMITY,"AvoidPRoximity"},
{ AUX_FUNC::WINCH_ENABLE,"WinchEnable"},
{ AUX_FUNC::WINCH_CONTROL,"WinchControl"},
{ AUX_FUNC::CLEAR_WP,"ClearWaypoint"},
{ AUX_FUNC::COMPASS_LEARN,"CompassLearn"},
{ AUX_FUNC::SAILBOAT_TACK,"SailboatTack"},
{ AUX_FUNC::GPS_DISABLE,"GPSDisable"},
{ AUX_FUNC::RELAY5,"Relay5"},
{ AUX_FUNC::RELAY6,"Relay6"},
{ AUX_FUNC::SAILBOAT_MOTOR_3POS,"SailboatMotor"},
{ AUX_FUNC::SURFACE_TRACKING,"SurfaceTracking"},
{ AUX_FUNC::RUNCAM_CONTROL,"RunCamControl"},
{ AUX_FUNC::RUNCAM_OSD_CONTROL,"RunCamOSDControl"},
{ AUX_FUNC::VISODOM_CALIBRATE,"VisodomCalibrate"},
{ AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"},
};
/* lookup the announcement for switch change */
const char *RC_Channel::string_for_aux_function(AUX_FUNC function) const
{
for (const struct LookupTable entry : lookuptable) {
if (entry.option == function) {
return entry.announcement;
}
}
return nullptr;
}
#endif // HAL_MINIMIZE_FEATURES
/*
read an aux channel. Return true if a switch has changed
*/
@ -515,6 +565,26 @@ bool RC_Channel::read_aux()
return false;
}
#if !HAL_MINIMIZE_FEATURES
// announce the change to the GCS:
const char *aux_string = string_for_aux_function(_option);
if (aux_string != nullptr) {
const char *temp = nullptr;
switch (new_position) {
case AuxSwitchPos::HIGH:
temp = "HIGH";
break;
case AuxSwitchPos::MIDDLE:
temp = "MIDDLE";
break;
case AuxSwitchPos::LOW:
temp = "LOW";
break;
}
gcs().send_text(MAV_SEVERITY_INFO, "%s %s", aux_string, temp);
}
#endif
// debounced; undertake the action:
do_aux_function(_option, new_position);
return true;

11
libraries/RC_Channel/RC_Channel.h
View File

@ -274,6 +274,17 @@ private:
void reset_mode_switch();
void read_mode_switch();
bool debounce_completed(int8_t position);
#if !HAL_MINIMIZE_FEATURES
// Structure to lookup switch change announcements
struct LookupTable{
AUX_FUNC option;
const char *announcement;
};
static const LookupTable lookuptable[];
const char *string_for_aux_function(AUX_FUNC function) const;
#endif
};