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RC_Channel: add AUX_FUNC::BATTERY_MPPT_ENABLE

This commit is contained in:
Tom Pittenger 2023-02-17 11:58:31 -08:00 committed by Andrew Tridgell
parent f413f82345
commit 3c65b5e5a0
2 changed files with 14 additions and 4 deletions
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17
libraries/RC_Channel/RC_Channel.cpp
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@ -38,6 +38,7 @@ extern const AP_HAL::HAL& hal;
#include <AP_GyroFFT/AP_GyroFFT.h> #include <AP_GyroFFT/AP_GyroFFT.h>
#include <AP_ADSB/AP_ADSB.h> #include <AP_ADSB/AP_ADSB.h>
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_LandingGear/AP_LandingGear.h> #include <AP_LandingGear/AP_LandingGear.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h> #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
@ -101,10 +102,10 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: OPTION // @Param: OPTION
// @DisplayName: RC input option // @DisplayName: RC input option
// @Description: Function assigned to this RC channel // @Description: Function assigned to this RC channel
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 110:KillIMU3, 151:Turtle, 152:simple heading reset, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with AirMode (4.2 and higher), 158:Optflow Calibration, 159:Force Flying, 161:Turbine Start(heli), 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 171:Calibrate Compasses, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8 // @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 110:KillIMU3, 151:Turtle, 152:simple heading reset, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with AirMode (4.2 and higher), 158:Optflow Calibration, 159:Force Flying, 161:Turbine Start(heli), 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 171:Calibrate Compasses, 172:Battery MPPT Enable, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim (4.1 and lower), 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 110:KillIMU3, 153:ArmDisarm (4.2 and higher), 155: set steering trim to current servo and RC, 156:Torqeedo Clear Err, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 171:Calibrate Compasses, 201:Roll, 202:Pitch, 207:MainSail, 208:Flap, 211:Walking Height, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8 // @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim (4.1 and lower), 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 110:KillIMU3, 153:ArmDisarm (4.2 and higher), 155: set steering trim to current servo and RC, 156:Torqeedo Clear Err, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 171:Calibrate Compasses, 172:Battery MPPT Enable, 201:Roll, 202:Pitch, 207:MainSail, 208:Flap, 211:Walking Height, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 22:Parachute Release, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm (4.1 and lower), 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 107: EnableFixedWingAutotune, 108: ModeQRTL, 110:KillIMU3, 150: CRUISE, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with Quadplane AirMode (4.2 and higher), 155: set roll pitch and yaw trim to current servo and RC, 157: Force FS Action to FBWA, 158:Optflow Calibration, 160:Weathervane Enable, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 170:Mode QStabilize, 171:Calibrate Compasses, 208:Flap, 209: Forward Throttle, 210: Airbrakes, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8 // @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 22:Parachute Release, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm (4.1 and lower), 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 107: EnableFixedWingAutotune, 108: ModeQRTL, 110:KillIMU3, 150: CRUISE, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with Quadplane AirMode (4.2 and higher), 155: set roll pitch and yaw trim to current servo and RC, 157: Force FS Action to FBWA, 158:Optflow Calibration, 160:Weathervane Enable, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 170:Mode QStabilize, 171:Calibrate Compasses, 172:Battery MPPT Enable, 208:Flap, 209: Forward Throttle, 210: Airbrakes, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Blimp}: 0:Do Nothing, 18:Land, 46:RC Override Enable, 65:GPS Disable, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 110:KillIMU3, 153:ArmDisarm, 164:Pause Stream Logging, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 171:Calibrate Compasses // @Values{Blimp}: 0:Do Nothing, 18:Land, 46:RC Override Enable, 65:GPS Disable, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 110:KillIMU3, 153:ArmDisarm, 164:Pause Stream Logging, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 171:Calibrate Compasses, 172:Battery MPPT Enable
// @User: Standard // @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE|AP_PARAM_FRAME_BLIMP), AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE|AP_PARAM_FRAME_BLIMP),
@ -483,6 +484,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
switch (ch_option) { switch (ch_option) {
// the following functions do not need to be initialised: // the following functions do not need to be initialised:
case AUX_FUNC::ARMDISARM: case AUX_FUNC::ARMDISARM:
case AUX_FUNC::BATTERY_MPPT_ENABLE:
case AUX_FUNC::CAMERA_TRIGGER: case AUX_FUNC::CAMERA_TRIGGER:
case AUX_FUNC::CLEAR_WP: case AUX_FUNC::CLEAR_WP:
case AUX_FUNC::COMPASS_LEARN: case AUX_FUNC::COMPASS_LEARN:
@ -610,6 +612,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::EKF_POS_SOURCE,"EKFPosSource"}, { AUX_FUNC::EKF_POS_SOURCE,"EKFPosSource"},
{ AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"}, { AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"},
{ AUX_FUNC::GENERATOR,"Generator"}, { AUX_FUNC::GENERATOR,"Generator"},
{ AUX_FUNC::BATTERY_MPPT_ENABLE,"Battery MPPT Enable"},
{ AUX_FUNC::ARSPD_CALIBRATE,"Calibrate Airspeed"}, { AUX_FUNC::ARSPD_CALIBRATE,"Calibrate Airspeed"},
{ AUX_FUNC::TORQEEDO_CLEAR_ERR, "Torqeedo Clear Err"}, { AUX_FUNC::TORQEEDO_CLEAR_ERR, "Torqeedo Clear Err"},
{ AUX_FUNC::EMERGENCY_LANDING_EN, "Emergency Landing"}, { AUX_FUNC::EMERGENCY_LANDING_EN, "Emergency Landing"},
@ -1142,6 +1145,12 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
break; break;
#endif #endif
case AUX_FUNC::BATTERY_MPPT_ENABLE:
if (ch_flag != AuxSwitchPos::MIDDLE) {
AP::battery().MPPT_set_powered_state_to_all(ch_flag == AuxSwitchPos::HIGH);
}
break;
#if HAL_SPRAYER_ENABLED #if HAL_SPRAYER_ENABLED
case AUX_FUNC::SPRAYER: case AUX_FUNC::SPRAYER:
do_aux_function_sprayer(ch_flag); do_aux_function_sprayer(ch_flag);

1
libraries/RC_Channel/RC_Channel.h
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@ -244,6 +244,7 @@ public:
CAMERA_AUTO_FOCUS = 169, // camera auto focus CAMERA_AUTO_FOCUS = 169, // camera auto focus
QSTABILIZE = 170, // QuadPlane QStabilize mode QSTABILIZE = 170, // QuadPlane QStabilize mode
MAG_CAL = 171, // Calibrate compasses (disarmed only) MAG_CAL = 171, // Calibrate compasses (disarmed only)
BATTERY_MPPT_ENABLE = 172,// Battery MPPT Power enable. high = ON, mid = auto (controlled by mppt/batt driver), low = OFF. This effects all MPPTs.
// inputs from 200 will eventually used to replace RCMAP // inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input ROLL = 201, // roll input