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AP_Airspeed: add rc channel option to disable all airspeed sensors

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This commit is contained in:
Peter Barker 2021-06-17 16:03:35 +10:00 committed by Peter Barker
parent 1281033931
commit 6da68e39f8
2 changed files with 11 additions and 0 deletions
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3
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -623,6 +623,9 @@ void AP_Airspeed::Log_Airspeed()
bool AP_Airspeed::use(uint8_t i) const bool AP_Airspeed::use(uint8_t i) const
{ {
if (_force_disable_use) {
return false;
}
if (!enabled(i) || !param[i].use) { if (!enabled(i) || !param[i].use) {
return false; return false;
} }

8
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -96,6 +96,11 @@ public:
bool use(uint8_t i) const; bool use(uint8_t i) const;
bool use(void) const { return use(primary); } bool use(void) const { return use(primary); }
// force disabling of all airspeed sensors
void force_disable_use(bool value) {
_force_disable_use = value;
}
// return true if airspeed is enabled // return true if airspeed is enabled
bool enabled(uint8_t i) const { bool enabled(uint8_t i) const {
if (i < AIRSPEED_MAX_SENSORS) { if (i < AIRSPEED_MAX_SENSORS) {
@ -236,6 +241,9 @@ private:
bool calibration_enabled; bool calibration_enabled;
// can be set to true to disable the use of the airspeed sensor
bool _force_disable_use;
// current primary sensor // current primary sensor
uint8_t primary; uint8_t primary;
uint8_t num_sensors; uint8_t num_sensors;