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Rover: allow mode to be set from ch7 switch

This commit is contained in:
Randy Mackay 2017-12-01 12:48:49 +09:00
parent ed558dd9a0
commit 0c6afac5c6
3 changed files with 82 additions and 2 deletions
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2
APMrover2/Parameters.cpp
View File

@ -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),

72
APMrover2/control_modes.cpp
View File

@ -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;
}
}

10
APMrover2/defines.h
View File

@ -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