From 04c8ad6150f17b439cbfe07cd1e03751ac154180 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 20 Aug 2021 14:40:44 +0900 Subject: [PATCH] RC_Channel: rename visodom_calibrate to visodom_align This should be a non-functional change --- libraries/RC_Channel/RC_Channel.cpp | 8 ++++---- libraries/RC_Channel/RC_Channel.h | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index 397e9fc1f1..35b0e1b481 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -94,7 +94,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = { // @Param: OPTION // @DisplayName: RC input option // @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 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8 + // @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 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8 // @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, 27:Retract Mount, 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 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 201:Roll, 202:Pitch, 203:Walking Height, 207:MainSail, 208:Flap, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8 // @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 24:Auto Mission Reset, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 150: CRUISE, 208:Flap, 209: Forward Throttle, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8 // @Values{Blimp}: 0:Do Nothing, 18:Land, 41:ArmDisarm, 46:RC Override Enable, 65:GPS Disable, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2 @@ -490,7 +490,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo case AUX_FUNC::RELAY4: case AUX_FUNC::RELAY5: case AUX_FUNC::RELAY6: - case AUX_FUNC::VISODOM_CALIBRATE: + case AUX_FUNC::VISODOM_ALIGN: case AUX_FUNC::EKF_LANE_SWITCH: case AUX_FUNC::EKF_YAW_RESET: case AUX_FUNC::GENERATOR: // don't turn generator on or off initially @@ -572,7 +572,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = { { AUX_FUNC::SURFACE_TRACKING,"SurfaceTracking"}, { AUX_FUNC::RUNCAM_CONTROL,"RunCamControl"}, { AUX_FUNC::RUNCAM_OSD_CONTROL,"RunCamOSDControl"}, - { AUX_FUNC::VISODOM_CALIBRATE,"VisodomCalibrate"}, + { AUX_FUNC::VISODOM_ALIGN,"VisOdomAlign"}, { AUX_FUNC::EKF_POS_SOURCE,"EKFPosSource"}, { AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"}, { AUX_FUNC::GENERATOR,"Generator"}, @@ -1088,7 +1088,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos } break; - case AUX_FUNC::VISODOM_CALIBRATE: + case AUX_FUNC::VISODOM_ALIGN: #if HAL_VISUALODOM_ENABLED if (ch_flag == AuxSwitchPos::HIGH) { AP_VisualOdom *visual_odom = AP::visualodom(); diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h index a9fe8c0b57..ffcc3e6818 100644 --- a/libraries/RC_Channel/RC_Channel.h +++ b/libraries/RC_Channel/RC_Channel.h @@ -178,7 +178,7 @@ public: TAKEOFF = 77, // takeoff RUNCAM_CONTROL = 78, // control RunCam device RUNCAM_OSD_CONTROL = 79, // control RunCam OSD - VISODOM_CALIBRATE = 80, // calibrate visual odometry camera's attitude + VISODOM_ALIGN = 80, // align visual odometry camera's attitude to AHRS DISARM = 81, // disarm vehicle Q_ASSIST = 82, // disable, enable and force Q assist ZIGZAG_Auto = 83, // zigzag auto switch