Rover: allow mode to be set from ch7 switch

APMrover2/Parameters.cpp

@@ -129,7 +129,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Param: CH7_OPTION
     // @DisplayName: Channel 7 option
     // @Description: What to do use channel 7 for
-    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed,3:ArmDisarm
+    // @Values: 0:Nothing,1:SaveWaypoint,2:LearnCruiseSpeed,3:ArmDisarm,4:Manual,5:Acro,6:Steering,7:Hold,8:Auto,9:RTL,10:SmartRTL,11:Guided
     // @User: Standard
     GSCALAR(ch7_option,             "CH7_OPTION",          CH7_OPTION),
 

APMrover2/control_modes.cpp

@@ -198,6 +198,78 @@ void Rover::read_aux_switch()
             disarm_motors();
         }
         break;
+
+    // set mode to Manual
+    case CH7_MANUAL:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_manual, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_manual)) {
+            reset_control_switch();
+        }
+        break;
+
+    // set mode to Acro
+    case CH7_ACRO:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_acro, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_acro)) {
+            reset_control_switch();
+        }
+        break;
+
+    // set mode to Steering
+    case CH7_STEERING:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_steering, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_steering)) {
+            reset_control_switch();
+        }
+        break;
+
+    // set mode to Hold
+    case CH7_HOLD:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_hold, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_hold)) {
+            reset_control_switch();
+        }
+        break;
+
+    // set mode to Auto
+    case CH7_AUTO:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_auto, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_auto)) {
+            reset_control_switch();
+        }
+        break;
+
+    // set mode to RTL
+    case CH7_RTL:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_rtl, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_rtl)) {
+            reset_control_switch();
+        }
+        break;
+
+    // set mode to SmartRTL
+    case CH7_SMART_RTL:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_smartrtl, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_smartrtl)) {
+            reset_control_switch();
+        }
+        break;
+
+    // set mode to Guided
+    case CH7_GUIDED:
+        if (aux_ch7 == AUX_SWITCH_HIGH) {
+            set_mode(mode_guided, MODE_REASON_TX_COMMAND);
+        } else if ((aux_ch7 == AUX_SWITCH_LOW) && (control_mode == &mode_guided)) {
+            reset_control_switch();
+        }
+        break;
     }
 }
 

APMrover2/defines.h

@@ -18,7 +18,15 @@ enum ch7_option {
     CH7_DO_NOTHING      = 0,
     CH7_SAVE_WP         = 1,
     CH7_LEARN_CRUISE    = 2,
-    CH7_ARM_DISARM      = 3
+    CH7_ARM_DISARM      = 3,
+    CH7_MANUAL          = 4,
+    CH7_ACRO            = 5,
+    CH7_STEERING        = 6,
+    CH7_HOLD            = 7,
+    CH7_AUTO            = 8,
+    CH7_RTL             = 9,
+    CH7_SMART_RTL       = 10,
+    CH7_GUIDED          = 11
 };
 
 // HIL enumerations