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RC_Channel: add global E-stop function

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IamPete1 2019-01-21 01:36:26 +00:00 committed by Randy Mackay
parent cbb871e7bb
commit 8f9f572489
1 changed files with 32 additions and 3 deletions
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35
libraries/RC_Channel/RC_Channel.cpp
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@ -81,8 +81,8 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @DisplayName: RC input option
// @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, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66: Relay5, 67: Relay6
// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 19:Gripper, 28:Relay On/Off, 30:Lost Rover Sound, 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, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66: Relay5, 67: Relay6
// @Values{Plane}: 0:Do Nothing, 9:Camera Trigger, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 58:Clear Waypoints, 62:Compass Learn, 64: Reverse Throttle, 65:GPS Disable, 66: Relay5, 67: Relay6
// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 19:Gripper, 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, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66: Relay5, 67: Relay6
// @Values{Plane}: 0:Do Nothing, 9:Camera Trigger, 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, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 58:Clear Waypoints, 62:Compass Learn, 64: Reverse Throttle, 65:GPS Disable, 66: Relay5, 67: Relay6
// @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE),
@ -443,6 +443,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
case COMPASS_LEARN:
case LANDING_GEAR:
break;
case MOTOR_ESTOP:
case GRIPPER:
case SPRAYER:
case GPS_DISABLE:
@ -686,7 +687,35 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
case GPS_DISABLE:
AP::gps().force_disable(ch_flag == HIGH);
break;
case MOTOR_ESTOP:
switch (ch_flag) {
case HIGH: {
SRV_Channels::set_emergency_stop(true);
// log E-stop
AP_Logger *df = AP_Logger::get_singleton();
if (df && df->logging_enabled()) {
df->Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
}
break;
}
case MIDDLE:
// nothing
break;
case LOW: {
SRV_Channels::set_emergency_stop(false);
// log E-stop cleared
AP_Logger *df = AP_Logger::get_singleton();
if (df && df->logging_enabled()) {
df->Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
}
break;
}
}
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option);
break;