From 3c8738b4d8113734ebf951616a1bee37da3cd8d4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 17 Aug 2018 12:44:15 +1000 Subject: [PATCH] RC_Channel: add clear-waypoints option --- libraries/RC_Channel/RC_Channel.cpp | 19 +++++++++++++++++-- libraries/RC_Channel/RC_Channel.h | 2 ++ 2 files changed, 19 insertions(+), 2 deletions(-) diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index d9758ac226..c030472587 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -78,8 +78,8 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = { // @Param: OPTION // @DisplayName: RC input option // @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 Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3 - // @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 30:Lost Rover Sound, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow + // @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 Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 58:Clear Waypoints + // @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 30:Lost Rover Sound, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints // @User: Standard AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER), @@ -420,6 +420,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_ case CAMERA_TRIGGER: case LOST_VEHICLE_SOUND: case DO_NOTHING: + case CLEAR_WP: break; case GRIPPER: case SPRAYER: @@ -475,6 +476,17 @@ void RC_Channel::do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag) } } +void RC_Channel::do_aux_function_clear_wp(const aux_switch_pos_t ch_flag) +{ + AP_Mission *mission = AP::mission(); + if (mission == nullptr) { + return; + } + if (ch_flag == HIGH) { + mission->clear(); + } +} + void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val) { AP_ServoRelayEvents *servorelayevents = AP::servorelayevents(); @@ -556,6 +568,9 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po case RELAY4: do_aux_function_relay(3, ch_flag == HIGH); break; + case CLEAR_WP: + do_aux_function_clear_wp(ch_flag); + break; case SPRAYER: do_aux_function_sprayer(ch_flag); diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h index f5c5ad16b4..37d142b494 100644 --- a/libraries/RC_Channel/RC_Channel.h +++ b/libraries/RC_Channel/RC_Channel.h @@ -160,6 +160,7 @@ public: GUIDED = 55, // guided mode LOITER = 56, // loiter mode FOLLOW = 57, // follow mode + CLEAR_WP = 58, // clear waypoints // 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 }; @@ -180,6 +181,7 @@ protected: virtual void do_aux_function(aux_func_t ch_option, aux_switch_pos_t); void do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag); + void do_aux_function_clear_wp(const aux_switch_pos_t ch_flag); void do_aux_function_gripper(const aux_switch_pos_t ch_flag); void do_aux_function_lost_vehicle_sound(const aux_switch_pos_t ch_flag); void do_aux_function_relay(uint8_t relay, bool val);