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RC_Channel: added AUX function 112 for AHRS EKF type changes

This commit is contained in:
Andrew Tridgell 2023-09-16 09:19:01 +10:00
parent 80730d6c02
commit 376426a088
2 changed files with 11 additions and 0 deletions
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10
libraries/RC_Channel/RC_Channel.cpp
View File

@ -207,6 +207,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Values{Plane}: 108:QRTL Mode // @Values{Plane}: 108:QRTL Mode
// @Values{Copter}: 109:use Custom Controller // @Values{Copter}: 109:use Custom Controller
// @Values{Copter, Rover, Plane, Blimp}: 110:KillIMU3 // @Values{Copter, Rover, Plane, Blimp}: 110:KillIMU3
// @Values{Copter,Plane,Rover,Blimp,Sub,Tracker}: 112:SwitchExternalAHRS
// @Values{Plane}: 150:CRUISE Mode // @Values{Plane}: 150:CRUISE Mode
// @Values{Copter}: 151:TURTLE Mode // @Values{Copter}: 151:TURTLE Mode
// @Values{Copter}: 152:SIMPLE heading reset // @Values{Copter}: 152:SIMPLE heading reset
@ -700,6 +701,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
case AUX_FUNC::CAMERA_MANUAL_FOCUS: case AUX_FUNC::CAMERA_MANUAL_FOCUS:
case AUX_FUNC::CAMERA_AUTO_FOCUS: case AUX_FUNC::CAMERA_AUTO_FOCUS:
case AUX_FUNC::CAMERA_LENS: case AUX_FUNC::CAMERA_LENS:
case AUX_FUNC::AHRS_TYPE:
run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT); run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
break; break;
default: default:
@ -1613,6 +1615,14 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
AP::ahrs().request_yaw_reset(); AP::ahrs().request_yaw_reset();
break; break;
case AUX_FUNC::AHRS_TYPE: {
#if HAL_NAVEKF3_AVAILABLE && HAL_EXTERNAL_AHRS_ENABLED
AP::ahrs().set_ekf_type(ch_flag==AuxSwitchPos::HIGH? 11 : 3);
#endif
break;
}
#if HAL_TORQEEDO_ENABLED #if HAL_TORQEEDO_ENABLED
// clear torqeedo error // clear torqeedo error
case AUX_FUNC::TORQEEDO_CLEAR_ERR: { case AUX_FUNC::TORQEEDO_CLEAR_ERR: {

1
libraries/RC_Channel/RC_Channel.h
View File

@ -216,6 +216,7 @@ public:
CUSTOM_CONTROLLER = 109, // use Custom Controller CUSTOM_CONTROLLER = 109, // use Custom Controller
KILL_IMU3 = 110, // disable third IMU (for IMU failure testing) KILL_IMU3 = 110, // disable third IMU (for IMU failure testing)
LOWEHEISER_STARTER = 111, // allows for manually running starter LOWEHEISER_STARTER = 111, // allows for manually running starter
AHRS_TYPE = 112, // change AHRS_EKF_TYPE
// if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp! // if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
// also, if you add an option >255, you will need to fix duplicate_options_exist // also, if you add an option >255, you will need to fix duplicate_options_exist