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RC_Channel: allow compass learning to be triggered on option

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this allows for RCn_OPTION=62 to trigger compass learning, so you can
enable in-flight without using the GCS
This commit is contained in:
Andrew Tridgell 2018-10-20 11:00:04 +11:00
parent 23ddd994ec
commit 5fe9334a18
2 changed files with 12 additions and 3 deletions
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14
libraries/RC_Channel/RC_Channel.cpp
View File

@ -78,9 +78,9 @@ 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, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP
// @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, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple
// @Values{Plane}: 0:Do Nothing, 9:Camera Trigger, 28:Relay On/Off, 34:Relay2 On/Off, 30:Lost Plane Sound, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 58:Clear Waypoints
// @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, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn
// @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, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple, 62:Compass Learn
// @Values{Plane}: 0:Do Nothing, 9:Camera Trigger, 28:Relay On/Off, 34:Relay2 On/Off, 30:Lost Plane Sound, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 58:Clear Waypoints, 62:Compass Learn
// @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE),
@ -435,6 +435,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
case LOST_VEHICLE_SOUND:
case DO_NOTHING:
case CLEAR_WP:
case COMPASS_LEARN:
break;
case GRIPPER:
case SPRAYER:
@ -616,6 +617,13 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_lost_vehicle_sound(ch_flag);
break;
case COMPASS_LEARN:
if (ch_flag == HIGH) {
Compass &compass = AP::compass();
compass.set_learn_type(Compass::LEARN_INFLIGHT, false);
}
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option);
break;

1
libraries/RC_Channel/RC_Channel.h
View File

@ -169,6 +169,7 @@ public:
SIMPLE = 59, // simple mode
ZIGZAG = 60, // zigzag mode
ZIGZAG_SaveWP = 61, // zigzag save waypoint
COMPASS_LEARN = 62, // zigzag save waypoint
// 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
};