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Rover: Use new RC_Channel AUX_FUNC 

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2019-04-03 13:24:17 -03:00 committed by Tom Pittenger
parent 3a0ac4bb09
commit 70fa8bc8c0
1 changed files with 28 additions and 28 deletions
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56
APMrover2/RC_Channel.cpp
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@ -33,18 +33,18 @@ void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const aux_s
// init channel options // init channel options
switch(ch_option) { switch(ch_option) {
// the following functions do not need initialising: // the following functions do not need initialising:
case SAVE_WP: case AUX_FUNC::SAVE_WP:
case LEARN_CRUISE: case AUX_FUNC::LEARN_CRUISE:
case ARMDISARM: case AUX_FUNC::ARMDISARM:
case MANUAL: case AUX_FUNC::MANUAL:
case ACRO: case AUX_FUNC::ACRO:
case STEERING: case AUX_FUNC::STEERING:
case HOLD: case AUX_FUNC::HOLD:
case AUTO: case AUX_FUNC::AUTO:
case GUIDED: case AUX_FUNC::GUIDED:
case LOITER: case AUX_FUNC::LOITER:
case FOLLOW: case AUX_FUNC::FOLLOW:
case SAILBOAT_TACK: case AUX_FUNC::SAILBOAT_TACK:
break; break;
default: default:
RC_Channel::init_aux_function(ch_option, ch_flag); RC_Channel::init_aux_function(ch_option, ch_flag);
@ -98,9 +98,9 @@ void RC_Channel_Rover::add_waypoint_for_current_loc()
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) {
case DO_NOTHING: case AUX_FUNC::DO_NOTHING:
break; break;
case SAVE_WP: case AUX_FUNC::SAVE_WP:
if (ch_flag == HIGH) { if (ch_flag == HIGH) {
// do nothing if in AUTO mode // do nothing if in AUTO mode
if (rover.control_mode == &rover.mode_auto) { if (rover.control_mode == &rover.mode_auto) {
@ -128,14 +128,14 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
break; break;
// learn cruise speed and throttle // learn cruise speed and throttle
case LEARN_CRUISE: case AUX_FUNC::LEARN_CRUISE:
if (ch_flag == HIGH) { if (ch_flag == HIGH) {
rover.cruise_learn_start(); rover.cruise_learn_start();
} }
break; break;
// arm or disarm the motors // arm or disarm the motors
case ARMDISARM: case AUX_FUNC::ARMDISARM:
if (ch_flag == HIGH) { if (ch_flag == HIGH) {
rover.arm_motors(AP_Arming::Method::RUDDER); rover.arm_motors(AP_Arming::Method::RUDDER);
} else if (ch_flag == LOW) { } else if (ch_flag == LOW) {
@ -144,62 +144,62 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
break; break;
// set mode to Manual // set mode to Manual
case MANUAL: case AUX_FUNC::MANUAL:
do_aux_function_change_mode(rover.mode_manual, ch_flag); do_aux_function_change_mode(rover.mode_manual, ch_flag);
break; break;
// set mode to Acro // set mode to Acro
case ACRO: case AUX_FUNC::ACRO:
do_aux_function_change_mode(rover.mode_acro, ch_flag); do_aux_function_change_mode(rover.mode_acro, ch_flag);
break; break;
// set mode to Steering // set mode to Steering
case STEERING: case AUX_FUNC::STEERING:
do_aux_function_change_mode(rover.mode_steering, ch_flag); do_aux_function_change_mode(rover.mode_steering, ch_flag);
break; break;
// set mode to Hold // set mode to Hold
case HOLD: case AUX_FUNC::HOLD:
do_aux_function_change_mode(rover.mode_hold, ch_flag); do_aux_function_change_mode(rover.mode_hold, ch_flag);
break; break;
// set mode to Auto // set mode to Auto
case AUTO: case AUX_FUNC::AUTO:
do_aux_function_change_mode(rover.mode_auto, ch_flag); do_aux_function_change_mode(rover.mode_auto, ch_flag);
break; break;
// set mode to RTL // set mode to RTL
case RTL: case AUX_FUNC::RTL:
do_aux_function_change_mode(rover.mode_rtl, ch_flag); do_aux_function_change_mode(rover.mode_rtl, ch_flag);
break; break;
// set mode to SmartRTL // set mode to SmartRTL
case SMART_RTL: case AUX_FUNC::SMART_RTL:
do_aux_function_change_mode(rover.mode_smartrtl, ch_flag); do_aux_function_change_mode(rover.mode_smartrtl, ch_flag);
break; break;
// set mode to Guided // set mode to Guided
case GUIDED: case AUX_FUNC::GUIDED:
do_aux_function_change_mode(rover.mode_guided, ch_flag); do_aux_function_change_mode(rover.mode_guided, ch_flag);
break; break;
// Set mode to LOITER // Set mode to LOITER
case LOITER: case AUX_FUNC::LOITER:
do_aux_function_change_mode(rover.mode_loiter, ch_flag); do_aux_function_change_mode(rover.mode_loiter, ch_flag);
break; break;
// Set mode to Follow // Set mode to Follow
case FOLLOW: case AUX_FUNC::FOLLOW:
do_aux_function_change_mode(rover.mode_follow, ch_flag); do_aux_function_change_mode(rover.mode_follow, ch_flag);
break; break;
// set mode to Simple // set mode to Simple
case SIMPLE: case AUX_FUNC::SIMPLE:
do_aux_function_change_mode(rover.mode_simple, ch_flag); do_aux_function_change_mode(rover.mode_simple, ch_flag);
break; break;
// trigger sailboat tack // trigger sailboat tack
case SAILBOAT_TACK: case AUX_FUNC::SAILBOAT_TACK:
// any switch movement interpreted as request to tack // any switch movement interpreted as request to tack
rover.control_mode->handle_tack_request(); rover.control_mode->handle_tack_request();
break; break;