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Tracker: add auto opts param 

This adds a bitmask that can be used to allow scaning before a vehicle has been found in auto mode
This commit is contained in:
Peter Hall 2019-10-21 14:50:19 +08:00 committed by Peter Barker
parent c9362fbb70
commit 37cf09a8f9
3 changed files with 12 additions and 1 deletions
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8
AntennaTracker/Parameters.cpp
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@ -477,6 +477,14 @@ const AP_Param::Info Tracker::var_info[] = {
// @Path: ../libraries/AP_Stats/AP_Stats.cpp
GOBJECT(stats, "STAT", AP_Stats),
// @Param: AUTO_OPTIONS
// @DisplayName: Auto mode options
// @Description: 1: Scan for unknown target
// @User: Standard
// @Values: 0:None, 1: Scan for unknown target in auto mode
// @Bitmask: 0:Scan for unknown target
GSCALAR(auto_opts, "AUTO_OPTIONS", 0),
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
{ AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&tracker, {group_info : AP_Vehicle::var_info} },

3
AntennaTracker/Parameters.h
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@ -124,6 +124,8 @@ public:
k_param_initial_mode,
k_param_disarm_pwm,
k_param_auto_opts,
k_param_logger = 253, // 253 - Logging Group
k_param_vehicle = 257, // vehicle common block of parameters
@ -164,6 +166,7 @@ public:
AP_Int16 gcs_pid_mask;
AP_Int8 initial_mode;
AP_Int8 disarm_pwm;
AP_Int8 auto_opts;
// Waypoints
//

2
AntennaTracker/mode_auto.cpp
View File

@ -6,7 +6,7 @@ void ModeAuto::update()
{
if (tracker.vehicle.location_valid) {
update_auto();
} else if (tracker.target_set) {
} else if (tracker.target_set || (tracker.g.auto_opts.get() & (1 << 0)) != 0) {
update_scan();
}
}