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ArduPlane: add RC option to plane for emergency remote landing that forces FS actions to FBWA

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This commit is contained in:
Hwurzburg 2021-10-24 00:20:43 -05:00 committed by Andrew Tridgell
parent 9c529c8950
commit 8d94e58ec9
3 changed files with 25 additions and 0 deletions
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3
ArduPlane/Plane.h
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@ -1100,6 +1100,9 @@ private:
void update_soaring(); void update_soaring();
#endif #endif
// RC_Channel.cpp
bool emergency_landing;
// vehicle specific waypoint info helpers // vehicle specific waypoint info helpers
bool get_wp_distance_m(float &distance) const override; bool get_wp_distance_m(float &distance) const override;
bool get_wp_bearing_deg(float &bearing) const override; bool get_wp_bearing_deg(float &bearing) const override;

14
ArduPlane/RC_Channel.cpp
View File

@ -164,6 +164,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
case AUX_FUNC::ARMDISARM_AIRMODE: case AUX_FUNC::ARMDISARM_AIRMODE:
#endif #endif
case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC: case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
case AUX_FUNC::EMERGENCY_LANDING_EN:
break; break;
case AUX_FUNC::SOARING: case AUX_FUNC::SOARING:
@ -354,6 +355,19 @@ case AUX_FUNC::ARSPD_CALIBRATE:
} }
break; break;
case AUX_FUNC::EMERGENCY_LANDING_EN:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
plane.emergency_landing = true;
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
plane.emergency_landing = false;
break;
}
break;
default: default:
return RC_Channel::do_aux_function(ch_option, ch_flag); return RC_Channel::do_aux_function(ch_option, ch_flag);

8
ArduPlane/events.cpp
View File

@ -33,6 +33,10 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso
case Mode::Number::TRAINING: case Mode::Number::TRAINING:
failsafe.saved_mode_number = control_mode->mode_number(); failsafe.saved_mode_number = control_mode->mode_number();
failsafe.saved_mode_set = true; failsafe.saved_mode_set = true;
if(plane.emergency_landing) {
set_mode(mode_fbwa, reason); // emergency landing switch overrides normal action to allow out of range landing
break;
}
if(g.fs_action_short == FS_ACTION_SHORT_FBWA) { if(g.fs_action_short == FS_ACTION_SHORT_FBWA) {
set_mode(mode_fbwa, reason); set_mode(mode_fbwa, reason);
} else if (g.fs_action_short == FS_ACTION_SHORT_FBWB) { } else if (g.fs_action_short == FS_ACTION_SHORT_FBWB) {
@ -116,6 +120,10 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
case Mode::Number::CIRCLE: case Mode::Number::CIRCLE:
case Mode::Number::LOITER: case Mode::Number::LOITER:
case Mode::Number::THERMAL: case Mode::Number::THERMAL:
if(plane.emergency_landing) {
set_mode(mode_fbwa, reason); // emergency landing switch overrides normal action to allow out of range landing
break;
}
if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) { if(g.fs_action_long == FS_ACTION_LONG_PARACHUTE) {
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
parachute_release(); parachute_release();