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AP_Mount: add RC failsafe action

This commit is contained in:
Hwurzburg 2020-12-28 16:07:46 -06:00 committed by Peter Barker
parent f7aabed164
commit 9dfcb487cf
3 changed files with 10 additions and 1 deletions
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1
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -249,6 +249,7 @@ protected:
// options parameter bitmask handling // options parameter bitmask handling
enum class Options : uint8_t { enum class Options : uint8_t {
RCTARGETING_LOCK_FROM_PREVMODE = (1U << 0), // RC_TARGETING mode's lock/follow state maintained from previous mode RCTARGETING_LOCK_FROM_PREVMODE = (1U << 0), // RC_TARGETING mode's lock/follow state maintained from previous mode
NEUTRAL_ON_RC_FS = (1U << 1), // move mount to netral position on RC failsafe
}; };
bool option_set(Options opt) const { return (_params.options.get() & (uint8_t)opt) != 0; } bool option_set(Options opt) const { return (_params.options.get() & (uint8_t)opt) != 0; }

2
libraries/AP_Mount/AP_Mount_Params.cpp
View File

@ -168,7 +168,7 @@ const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
// @Param: _OPTIONS // @Param: _OPTIONS
// @DisplayName: Mount options // @DisplayName: Mount options
// @Description: Mount options bitmask // @Description: Mount options bitmask
// @Bitmask: 0:RC lock state from previous mode // @Bitmask: 0:RC lock state from previous mode, 1:Return to neutral angles on RC failsafe
// @User: Standard // @User: Standard
AP_GROUPINFO("_OPTIONS", 16, AP_Mount_Params, options, 0), AP_GROUPINFO("_OPTIONS", 16, AP_Mount_Params, options, 0),

8
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -56,6 +56,13 @@ void AP_Mount_Servo::update()
// RC radio manual angle control, but with stabilization from the AHRS // RC radio manual angle control, but with stabilization from the AHRS
case MAV_MOUNT_MODE_RC_TARGETING: { case MAV_MOUNT_MODE_RC_TARGETING: {
// update targets using pilot's rc inputs or go to neutral or retracted targets if no rc
if (rc().in_rc_failsafe()) {
if (option_set(Options::NEUTRAL_ON_RC_FS)) {
mnt_target.angle_rad.set(_angle_bf_output_rad, false);
mnt_target.target_type = MountTargetType::ANGLE;
}
} else {
// update targets using pilot's RC inputs // update targets using pilot's RC inputs
MountTarget rc_target; MountTarget rc_target;
get_rc_target(mnt_target.target_type, rc_target); get_rc_target(mnt_target.target_type, rc_target);
@ -67,6 +74,7 @@ void AP_Mount_Servo::update()
mnt_target.rate_rads = rc_target; mnt_target.rate_rads = rc_target;
break; break;
} }
}
break; break;
} }