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Plane: add RC options for changing mode

This commit is contained in:
Peter Barker 2019-03-20 08:09:56 +11:00 committed by Andrew Tridgell
parent a2c4bfea0c
commit 584404a6da
2 changed files with 50 additions and 2 deletions
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47
ArduPlane/RC_Channel.cpp
View File

@ -27,6 +27,32 @@ bool RC_Channels_Plane::has_valid_input() const
return true;
}
void RC_Channel_Plane::do_aux_function_change_mode(const Mode::Number number,
const aux_switch_pos_t ch_flag)
{
switch(ch_flag) {
case HIGH: {
// engage mode (if not possible we remain in current flight mode)
const bool success = plane.set_mode_by_number(number, MODE_REASON_TX_COMMAND);
if (plane.control_mode != &plane.mode_initializing) {
if (success) {
AP_Notify::events.user_mode_change = 1;
} else {
AP_Notify::events.user_mode_change_failed = 1;
}
}
break;
}
default:
// return to flight mode switch's flight mode if we are currently
// in this mode
if (plane.control_mode->mode_number() == number) {
// TODO: rc().reset_mode_switch();
plane.reset_control_switch();
}
}
}
void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
const RC_Channel::aux_switch_pos_t ch_flag)
{
@ -34,6 +60,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
// the following functions do not need to be initialised:
case AUX_FUNC::ARMDISARM:
case AUX_FUNC::INVERTED:
case AUX_FUNC::RTL:
break;
case AUX_FUNC::REVERSE_THROTTLE:
@ -67,6 +94,26 @@ void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const aux_swi
gcs().send_text(MAV_SEVERITY_INFO, "RevThrottle: %s", plane.reversed_throttle?"ENABLE":"DISABLE");
break;
case AUX_FUNC::AUTO:
do_aux_function_change_mode(Mode::Number::AUTO, ch_flag);
break;
case AUX_FUNC::CIRCLE:
do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
break;
case AUX_FUNC::GUIDED:
do_aux_function_change_mode(Mode::Number::GUIDED, ch_flag);
break;
case AUX_FUNC::MANUAL:
do_aux_function_change_mode(Mode::Number::MANUAL, ch_flag);
break;
case AUX_FUNC::RTL:
do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
break;
default:
RC_Channel::do_aux_function(ch_option, ch_flag);
break;

3
ArduPlane/RC_Channel.h
View File

@ -13,9 +13,10 @@ protected:
aux_switch_pos_t ch_flag) override;
void do_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
private:
void do_aux_function_change_mode(Mode::Number number,
aux_switch_pos_t ch_flag);
};
class RC_Channels_Plane : public RC_Channels