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RC_Channel: added rc option 105 to disable GPS yaw

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very useful when doing testing of a moving baseline GPS yaw setup
This commit is contained in:
Andrew Tridgell 2020-05-21 12:23:26 +10:00 committed by Peter Barker
parent c4a92fb0fe
commit 7d430ae0ca
2 changed files with 10 additions and 3 deletions
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12
libraries/RC_Channel/RC_Channel.cpp
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@ -92,9 +92,9 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: OPTION // @Param: OPTION
// @DisplayName: RC input option // @DisplayName: RC input option
// @Description: Function assigned to this RC channel // @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, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle // @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, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 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 Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 100:KillIMU1, 101:KillIMU2, 207:MainSail, 102:Camera Mode Toggle // @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 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 Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 100:KillIMU1, 101:KillIMU2, 207:MainSail, 102:Camera Mode Toggle, 105:GPS Disable Yaw
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 100:KillIMU1, 101:KillIMU2, 208:Flap, 102:Camera Mode Toggle // @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 100:KillIMU1, 101:KillIMU2, 208:Flap, 102:Camera Mode Toggle, 105:GPS Disable Yaw
// @User: Standard // @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE), AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE),
@ -473,6 +473,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
case AUX_FUNC::AVOID_PROXIMITY: case AUX_FUNC::AVOID_PROXIMITY:
case AUX_FUNC::FENCE: case AUX_FUNC::FENCE:
case AUX_FUNC::GPS_DISABLE: case AUX_FUNC::GPS_DISABLE:
case AUX_FUNC::GPS_DISABLE_YAW:
case AUX_FUNC::GRIPPER: case AUX_FUNC::GRIPPER:
case AUX_FUNC::KILL_IMU1: case AUX_FUNC::KILL_IMU1:
case AUX_FUNC::KILL_IMU2: case AUX_FUNC::KILL_IMU2:
@ -522,6 +523,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::COMPASS_LEARN,"CompassLearn"}, { AUX_FUNC::COMPASS_LEARN,"CompassLearn"},
{ AUX_FUNC::SAILBOAT_TACK,"SailboatTack"}, { AUX_FUNC::SAILBOAT_TACK,"SailboatTack"},
{ AUX_FUNC::GPS_DISABLE,"GPSDisable"}, { AUX_FUNC::GPS_DISABLE,"GPSDisable"},
{ AUX_FUNC::GPS_DISABLE_YAW,"GPSDisableYaw"},
{ AUX_FUNC::RELAY5,"Relay5"}, { AUX_FUNC::RELAY5,"Relay5"},
{ AUX_FUNC::RELAY6,"Relay6"}, { AUX_FUNC::RELAY6,"Relay6"},
{ AUX_FUNC::SAILBOAT_MOTOR_3POS,"SailboatMotor"}, { AUX_FUNC::SAILBOAT_MOTOR_3POS,"SailboatMotor"},
@ -927,6 +929,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH); AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH);
break; break;
case AUX_FUNC::GPS_DISABLE_YAW:
AP::gps().set_force_disable_yaw(ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::MOTOR_ESTOP: case AUX_FUNC::MOTOR_ESTOP:
switch (ch_flag) { switch (ch_flag) {
case AuxSwitchPos::HIGH: { case AuxSwitchPos::HIGH: {

1
libraries/RC_Channel/RC_Channel.h
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@ -187,6 +187,7 @@ public:
CAM_MODE_TOGGLE = 102, // Momentary switch to cycle camera modes CAM_MODE_TOGGLE = 102, // Momentary switch to cycle camera modes
EKF_LANE_SWITCH = 103, // trigger lane switch attempt EKF_LANE_SWITCH = 103, // trigger lane switch attempt
EKF_YAW_RESET = 104, // trigger yaw reset attempt EKF_YAW_RESET = 104, // trigger yaw reset attempt
GPS_DISABLE_YAW = 105, // disable GPS yaw for testing
// if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp! // 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 // also, if you add an option >255, you will need to fix duplicate_options_exist