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APM: Added RST_MISSION_CH option

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this allows a pilot to reset the mission using a transmitter
switch. Very useful for repeating a mission during testing
This commit is contained in:
Andrew Tridgell 2012-08-09 10:33:16 +10:00
parent e2c8ec2c9e
commit 5498d347f3
3 changed files with 16 additions and 1 deletions
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2
ArduPlane/Parameters.h
View File

@ -70,6 +70,7 @@ public:
k_param_land_pitch_cd, k_param_land_pitch_cd,
k_param_ins, k_param_ins,
k_param_stick_mixing, k_param_stick_mixing,
k_param_reset_mission_chan,
// 110: Telemetry control // 110: Telemetry control
// //
@ -289,6 +290,7 @@ public:
AP_Int16 num_resets; AP_Int16 num_resets;
AP_Int16 log_bitmask; AP_Int16 log_bitmask;
AP_Int8 reset_switch_chan; AP_Int8 reset_switch_chan;
AP_Int8 reset_mission_chan;
AP_Int8 manual_level; AP_Int8 manual_level;
AP_Int32 airspeed_cruise_cm; AP_Int32 airspeed_cruise_cm;
AP_Int32 RTL_altitude_cm; AP_Int32 RTL_altitude_cm;

8
ArduPlane/Parameters.pde
View File

@ -379,10 +379,16 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: RST_SWITCH_CH // @Param: RST_SWITCH_CH
// @DisplayName: Reset Switch Channel // @DisplayName: Reset Switch Channel
// @Description: RC channel to use to reset to last flight mode after geofence takeover // @Description: RC channel to use to reset to last flight mode after geofence takeover.
// @User: Advanced // @User: Advanced
GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0), GSCALAR(reset_switch_chan, "RST_SWITCH_CH", 0),
// @Param: RST_MISSION_CH
// @DisplayName: Reset Mission Channel
// @Description: RC channel to use to reset the mission to the first waypoint. When this channel goes above 1750 the mission is reset. Set RST_MISSION_CH to 0 to disable.
// @User: Advanced
GSCALAR(reset_mission_chan, "RST_MISSION_CH", 0),
// @Param: TRIM_ARSPD_CM // @Param: TRIM_ARSPD_CM
// @DisplayName: Target airspeed // @DisplayName: Target airspeed
// @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode // @Description: Airspeed in cm/s to aim for when airspeed is enabled in auto mode

7
ArduPlane/control_modes.pde
View File

@ -39,6 +39,13 @@ static void read_control_switch()
reset_I(); reset_I();
} }
if (g.reset_mission_chan != 0 &&
APM_RC.InputCh(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) {
// reset to first waypoint in mission
prev_WP = current_loc;
change_command(1);
}
switch_debouncer = false; switch_debouncer = false;
if (g.inverted_flight_ch != 0) { if (g.inverted_flight_ch != 0) {