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RC_Channel: added AUX switch for EKF3 GPS disable

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This commit is contained in:
Andrew Tridgell 2024-11-27 11:10:53 +11:00
parent b52d7d9027
commit 3ec68a9c0a
2 changed files with 14 additions and 0 deletions
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12
libraries/RC_Channel/RC_Channel.cpp
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@ -731,6 +731,9 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
#if AP_GRIPPER_ENABLED
case AUX_FUNC::GRIPPER:
#endif
#if HAL_NAVEKF3_AVAILABLE
case AUX_FUNC::GPS_DISABLE_EK3:
#endif
#if AP_INERTIALSENSOR_KILL_IMU_ENABLED
case AUX_FUNC::KILL_IMU1:
case AUX_FUNC::KILL_IMU2:
@ -892,6 +895,9 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
#if HAL_MOUNT_ENABLED
{ AUX_FUNC::MOUNT_LRF_ENABLE, "Mount LRF Enable"},
#endif
#if HAL_NAVEKF3_AVAILABLE
{ AUX_FUNC::GPS_DISABLE_EK3,"GPSDisableEK3"},
#endif
};
/* lookup the announcement for switch change */
@ -1574,6 +1580,12 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
#endif
break;
#if HAL_NAVEKF3_AVAILABLE
case AUX_FUNC::GPS_DISABLE_EK3:
AP::ahrs().gps_disable_ek3(ch_flag == AuxSwitchPos::HIGH);
break;
#endif
case AUX_FUNC::GPS_DISABLE_YAW:
AP::gps().set_force_disable_yaw(ch_flag == AuxSwitchPos::HIGH);
break;

2
libraries/RC_Channel/RC_Channel.h
View File

@ -262,6 +262,8 @@ public:
AUTOTUNE_TEST_GAINS = 180, // auto tune tuning switch to test or revert gains
GPS_DISABLE_EK3 = 190, // disable GPS only for EKF3
// inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input
PITCH = 202, // pitch input