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Rover: RC_Channel add sailboat motor aux functions

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This commit is contained in:
Peter Hall 2019-05-27 15:28:08 +01:00 committed by Randy Mackay
parent fdb6da0793
commit 54f3173c7c
2 changed files with 30 additions and 0 deletions
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28
APMrover2/RC_Channel.cpp
View File

@ -45,6 +45,10 @@ void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const aux_s
case AUX_FUNC::LOITER: case AUX_FUNC::LOITER:
case AUX_FUNC::FOLLOW: case AUX_FUNC::FOLLOW:
case AUX_FUNC::SAILBOAT_TACK: case AUX_FUNC::SAILBOAT_TACK:
case AUX_FUNC::MAINSAIL:
break;
case AUX_FUNC::SAILBOAT_MOTOR_3POS:
do_aux_function_sailboat_motor_3pos(ch_flag);
break; break;
default: default:
RC_Channel::init_aux_function(ch_option, ch_flag); RC_Channel::init_aux_function(ch_option, ch_flag);
@ -95,6 +99,21 @@ void RC_Channel_Rover::add_waypoint_for_current_loc()
} }
} }
void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const aux_switch_pos_t ch_flag)
{
switch(ch_flag) {
case HIGH:
rover.g2.sailboat.throttle_state = rover.g2.sailboat.Sailboat_Throttle::FORCE_MOTOR;
break;
case MIDDLE:
rover.g2.sailboat.throttle_state = rover.g2.sailboat.Sailboat_Throttle::ASSIST;
break;
case LOW:
rover.g2.sailboat.throttle_state = rover.g2.sailboat.Sailboat_Throttle::NEVER;
break;
}
}
void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag) void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{ {
switch (ch_option) { switch (ch_option) {
@ -195,6 +214,15 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
rover.control_mode->handle_tack_request(); rover.control_mode->handle_tack_request();
break; break;
// sailboat motor state 3pos
case AUX_FUNC::SAILBOAT_MOTOR_3POS:
do_aux_function_sailboat_motor_3pos(ch_flag);
break;
// mainsail input, nothing to do
case AUX_FUNC::MAINSAIL:
break;
default: default:
RC_Channel::do_aux_function(ch_option, ch_flag); RC_Channel::do_aux_function(ch_option, ch_flag);
break; break;

2
APMrover2/RC_Channel.h
View File

@ -23,6 +23,8 @@ private:
const aux_switch_pos_t ch_flag); const aux_switch_pos_t ch_flag);
void add_waypoint_for_current_loc(); void add_waypoint_for_current_loc();
void do_aux_function_sailboat_motor_3pos(const aux_switch_pos_t ch_flag);
}; };
class RC_Channels_Rover : public RC_Channels class RC_Channels_Rover : public RC_Channels