Rover: added AUTO_KICKSTART and AUTO_TRIGGER_PIN options

APMrover2/APMrover2.pde

@@ -380,6 +380,9 @@ static struct {
     uint32_t detected_time_ms;
 } obstacle;
 
+// this is set to true when auto has been triggered to start
+static bool auto_triggered;
+
 ////////////////////////////////////////////////////////////////////////////////
 // Ground speed
 ////////////////////////////////////////////////////////////////////////////////

APMrover2/Parameters.h

@@ -69,6 +69,8 @@ public:
         k_param_speed_turn_gain,
         k_param_speed_turn_dist,
         k_param_ch7_option,
+        k_param_auto_trigger_pin,
+        k_param_auto_kickstart,
 
         //
         // 160: Radio settings
@@ -178,6 +180,8 @@ public:
     AP_Int8     speed_turn_gain;
     AP_Float    speed_turn_dist;    
     AP_Int8	    ch7_option;
+    AP_Int8     auto_trigger_pin;
+    AP_Float    auto_kickstart;
 
     // RC channels
     RC_Channel      channel_steer;

APMrover2/Parameters.pde

@@ -129,6 +129,22 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
 	GSCALAR(crosstrack_entry_angle, "XTRK_ANGLE_CD",    XTRACK_ENTRY_ANGLE_CENTIDEGREE),
 
+	// @Param: AUTO_TRIGGER_PIN
+	// @DisplayName: Auto mode trigger pin
+	// @Description: pin number to use to trigger start of auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will start the motor.
+	// @Values: -1:Disabled,0-9:TiggerPin
+	// @User: standard
+	GSCALAR(auto_trigger_pin,        "AUTO_TRIGGER_PIN", -1),
+
+	// @Param: AUTO_KICKSTART
+	// @DisplayName: Auto mode trigger kickstart acceleration
+	// @Description: X acceleration in meters/second/second to use to trigger start of auto mode. If set to zero then auto starts immediately, otherwise the rover waits for the X acceleration to go above this value before it will start the motor
+	// Units: m/s/s
+	// @Range: 0 20
+	// Increment: 0.1
+	// @User: standard
+	GSCALAR(auto_kickstart,          "AUTO_KICKSTART", 0.0f),
+
     // @Param: CRUISE_SPEED
     // @DisplayName: Target cruise speed in auto modes
     // @Description: The target speed in auto missions.

APMrover2/Steering.pde

@@ -17,11 +17,57 @@ static void throttle_slew_limit(int16_t last_throttle)
     }
 }
 
+/*
+  check for triggering of start of auto mode
+ */
+static bool auto_check_trigger(void)
+{
+    // only applies to AUTO mode
+    if (control_mode != AUTO) {
+        return true;
+    }
+
+    // if already triggered, then return true, so you don't
+    // need to hold the switch down
+    if (auto_triggered) {
+        return true;
+    }
+
+    if (g.auto_trigger_pin == -1 && g.auto_kickstart == 0.0f) {
+        // no trigger configured - let's go!
+        auto_triggered = true;
+        return true;
+    }
+ 
+    if (g.auto_trigger_pin != -1) {
+        hal.gpio->pinMode(g.auto_trigger_pin, GPIO_INPUT);
+        if (hal.gpio->read(g.auto_trigger_pin) == 0) {
+            auto_triggered = true;
+            return true;            
+        }
+    }
+
+    if (g.auto_kickstart != 0.0f) {
+        if (ins.get_accel().x >= g.auto_kickstart) {
+            auto_triggered = true;
+            return true;            
+        }
+    }
+
+    return false;   
+}
+
+
 /*
   calculate the throtte for auto-throttle modes
  */
 static void calc_throttle(float target_speed)
 {  
+    if (!auto_check_trigger()) {
+        g.channel_throttle.servo_out = g.throttle_min.get();
+        return;
+    }
+
     if (target_speed <= 0) {
         // cope with zero requested speed
         g.channel_throttle.servo_out = g.throttle_min.get();

APMrover2/system.pde

@@ -306,6 +306,10 @@ static void set_mode(enum mode mode)
 	control_mode = mode;
     throttle_last = 0;
     throttle = 500;
+
+    if (control_mode != AUTO) {
+        auto_triggered = false;
+    }
         
 	switch(control_mode)
 	{