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ArduCopter: add option to flight mode pause/resume via aux function

This commit is contained in:
Peter Barker 2024-04-10 16:01:13 +10:00 committed by Peter Barker
parent 468158e0f9
commit 18850fdd1f
1 changed files with 16 additions and 0 deletions
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16
ArduCopter/RC_Channel.cpp
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@ -108,6 +108,7 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
case AUX_FUNC::SIMPLE_HEADING_RESET: case AUX_FUNC::SIMPLE_HEADING_RESET:
case AUX_FUNC::ARMDISARM_AIRMODE: case AUX_FUNC::ARMDISARM_AIRMODE:
case AUX_FUNC::TURBINE_START: case AUX_FUNC::TURBINE_START:
case AUX_FUNC::FLIGHTMODE_PAUSE:
break; break;
case AUX_FUNC::ACRO_TRAINER: case AUX_FUNC::ACRO_TRAINER:
case AUX_FUNC::ATTCON_ACCEL_LIM: case AUX_FUNC::ATTCON_ACCEL_LIM:
@ -566,6 +567,21 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
} }
break; break;
case AUX_FUNC::FLIGHTMODE_PAUSE:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
if (!copter.flightmode->pause()) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Flight Mode Pause failed");
}
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
copter.flightmode->resume();
break;
}
break;
case AUX_FUNC::ZIGZAG_Auto: case AUX_FUNC::ZIGZAG_Auto:
#if MODE_ZIGZAG_ENABLED == ENABLED #if MODE_ZIGZAG_ENABLED == ENABLED
if (copter.flightmode == &copter.mode_zigzag) { if (copter.flightmode == &copter.mode_zigzag) {