Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-11 17:13:56 -03:00
Code Issues Packages Projects Releases Wiki Activity

RC_Channel: Add option bit for arming checking the throttle input (opt-in)

Browse Source 
Also adds interface to find out what channel is used for rudder arming
This commit is contained in:
Michael du Breuil 2020-03-30 19:08:24 -07:00 committed by WickedShell
parent 7ec0cb47a5
commit 2b9aa9bc21
3 changed files with 23 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
libraries/RC_Channel/RC_Channel.h
View File

@ -330,6 +330,8 @@ public:
// has_valid_input should be pure-virtual when Plane is converted
virtual bool has_valid_input() const { return false; };
virtual RC_Channel *get_arming_channel(void) const { return nullptr; };
bool gcs_overrides_enabled() const { return _gcs_overrides_enabled; }
void set_gcs_overrides_enabled(bool enable) {
_gcs_overrides_enabled = enable;
@ -360,6 +362,14 @@ public:
return _options & uint32_t(Option::LOG_DATA);
}
bool arming_check_throttle() const {
return _options & uint32_t(Option::ARMING_CHECK_THROTTLE);
}
bool arming_skip_checks_rpy() const {
return _options & uint32_t(Option::ARMING_SKIP_CHECK_RPY);
}
float override_timeout_ms() const {
return _override_timeout.get() * 1e3f;
}
@ -371,14 +381,18 @@ public:
*/
bool get_pwm(uint8_t channel, uint16_t &pwm) const;
uint32_t last_input_ms() const { return last_update_ms; };
protected:
enum class Option {
IGNORE_RECEIVER = (1 << 0), // RC receiver modules
IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1 << 2), // ignore RC failsafe bits
FPORT_PAD = (1 << 3), // pad fport telem output
LOG_DATA = (1 << 4), // log rc input bytes
IGNORE_RECEIVER = (1 << 0), // RC receiver modules
IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1 << 2), // ignore RC failsafe bits
FPORT_PAD = (1 << 3), // pad fport telem output
LOG_DATA = (1 << 4), // log rc input bytes
ARMING_CHECK_THROTTLE = (1 << 5), // run an arming check for neutral throttle
ARMING_SKIP_CHECK_RPY = (1 << 6), // skip the an arming checks for the roll/pitch/yaw channels
};
void new_override_received() {
@ -390,6 +404,7 @@ private:
// this static arrangement is to avoid static pointers in AP_Param tables
static RC_Channel *channels;
uint32_t last_update_ms;
bool has_new_overrides;
AP_Float _override_timeout;

2
libraries/RC_Channel/RC_Channels.cpp
View File

@ -74,6 +74,8 @@ bool RC_Channels::read_input(void)
has_new_overrides = false;
last_update_ms = AP_HAL::millis();
bool success = false;
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
success |= channel(i)->update();

2
libraries/RC_Channel/RC_Channels_VarInfo.h
View File

@ -86,7 +86,7 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @DisplayName: RC options
// @Description: RC input options
// @User: Advanced
// @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe, 3:FPort Pad
// @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks
AP_GROUPINFO("_OPTIONS", 33, RC_CHANNELS_SUBCLASS, _options, 0),
AP_GROUPEND