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RC_Channel: add mount lock aux function

This commit is contained in:
Randy Mackay 2022-06-01 13:39:42 +09:00
parent f83b4cdb40
commit 640a4b1a5f
2 changed files with 14 additions and 0 deletions
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13
libraries/RC_Channel/RC_Channel.cpp
View File

@ -522,6 +522,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
case AUX_FUNC::FFT_NOTCH_TUNE:
#if HAL_MOUNT_ENABLED
case AUX_FUNC::RETRACT_MOUNT:
case AUX_FUNC::MOUNT_LOCK:
#endif
run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
break;
@ -582,6 +583,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::WEATHER_VANE_ENABLE, "Weathervane"},
{ AUX_FUNC::TURBINE_START, "Turbine Start"},
{ AUX_FUNC::FFT_NOTCH_TUNE, "FFT Notch Tuning"},
{ AUX_FUNC::MOUNT_LOCK, "MountLock"},
};
/* lookup the announcement for switch change */
@ -1216,6 +1218,17 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
break;
}
case AUX_FUNC::MOUNT_LOCK: {
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
break;
}
mount->set_yaw_lock(ch_flag == AuxSwitchPos::HIGH);
#endif
break;
}
case AUX_FUNC::EKF_LANE_SWITCH:
// used to test emergency lane switch
AP::ahrs().check_lane_switch();

1
libraries/RC_Channel/RC_Channel.h
View File

@ -226,6 +226,7 @@ public:
WEATHER_VANE_ENABLE = 160, // enable/disable weathervaning
TURBINE_START = 161, // initialize turbine start sequence
FFT_NOTCH_TUNE = 162, // FFT notch tuning function
MOUNT_LOCK = 163, // Mount yaw lock vs follow
// inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input