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RC_Channel: add source index to aux function trigger

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Iampete1 2024-12-20 22:24:53 +00:00 committed by Andrew Tridgell
parent f5dee94a5d
commit 9ebb87816a
2 changed files with 19 additions and 17 deletions
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21
libraries/RC_Channel/RC_Channel.cpp
View File

@ -779,7 +779,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
#endif #endif
#if AP_AHRS_ENABLED #if AP_AHRS_ENABLED
case AUX_FUNC::AHRS_TYPE: case AUX_FUNC::AHRS_TYPE:
run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT); run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT, ch_in);
break; break;
#endif #endif
default: default:
@ -977,7 +977,7 @@ bool RC_Channel::read_aux()
#endif #endif
// debounced; undertake the action: // debounced; undertake the action:
run_aux_function(_option, new_position, AuxFuncTrigger::Source::RC, get_radio_in()); run_aux_function(_option, new_position, AuxFuncTrigger::Source::RC, ch_in);
return true; return true;
} }
@ -1402,7 +1402,7 @@ void RC_Channel::do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const
} }
#endif // HAL_MOUNT_ENABLED #endif // HAL_MOUNT_ENABLED
bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm) bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, uint16_t source_index)
{ {
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
rc().set_aux_cached(ch_option, pos); rc().set_aux_cached(ch_option, pos);
@ -1412,7 +1412,7 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
func: ch_option, func: ch_option,
pos: pos, pos: pos,
source: source, source: source,
pwm: pwm, source_index: source_index,
}; };
const bool ret = do_aux_function(trigger); const bool ret = do_aux_function(trigger);
@ -1427,17 +1427,19 @@ bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncT
// @FieldValueEnum: pos: RC_Channel::AuxSwitchPos // @FieldValueEnum: pos: RC_Channel::AuxSwitchPos
// @Field: source: source of auxiliary function invocation // @Field: source: source of auxiliary function invocation
// @FieldValueEnum: source: RC_Channel::AuxFuncTrigger::Source // @FieldValueEnum: source: RC_Channel::AuxFuncTrigger::Source
// @Field: index: index within source. 0 indexed. Invalid for scripting.
// @Field: result: true if function was successful // @Field: result: true if function was successful
AP::logger().Write( AP::logger().Write(
"AUXF", "AUXF",
"TimeUS,function,pos,source,result", "TimeUS,function,pos,source,index,result",
"s#---", "s#----",
"F----", "F-----",
"QHBBB", "QHBBHB",
AP_HAL::micros64(), AP_HAL::micros64(),
uint16_t(ch_option), uint16_t(ch_option),
uint8_t(pos), uint8_t(pos),
uint8_t(source), uint8_t(source),
source_index,
uint8_t(ret) uint8_t(ret)
); );
#endif #endif
@ -1915,7 +1917,8 @@ void RC_Channel::init_aux()
if (!read_3pos_switch(position)) { if (!read_3pos_switch(position)) {
position = AuxSwitchPos::LOW; position = AuxSwitchPos::LOW;
} }
init_aux_function((AUX_FUNC)option.get(), position);
run_aux_function((AUX_FUNC)option.get(), position, AuxFuncTrigger::Source::INIT, ch_in);
} }
// read_3pos_switch // read_3pos_switch

15
libraries/RC_Channel/RC_Channel.h
View File

@ -326,14 +326,14 @@ public:
MISSION, MISSION,
SCRIPTING, SCRIPTING,
} source; } source;
// Trigger PWM, only valid for RC source // Index within source
int16_t pwm; uint16_t source_index;
}; };
AuxSwitchPos get_aux_switch_pos() const; AuxSwitchPos get_aux_switch_pos() const;
// wrapper function around do_aux_function which allows us to log // wrapper function around do_aux_function which allows us to log
bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, int16_t pwm = 0); bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTrigger::Source source, uint16_t source_index);
#if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED #if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
const char *string_for_aux_function(AUX_FUNC function) const; const char *string_for_aux_function(AUX_FUNC function) const;
@ -395,6 +395,8 @@ protected:
// no action by default (e.g. Tracker, Sub, who do their own thing) // no action by default (e.g. Tracker, Sub, who do their own thing)
}; };
// the input channel this corresponds to
uint8_t ch_in;
private: private:
@ -414,9 +416,6 @@ private:
ControlType type_in; ControlType type_in;
int16_t high_in; int16_t high_in;
// the input channel this corresponds to
uint8_t ch_in;
// overrides // overrides
uint16_t override_value; uint16_t override_value;
uint32_t last_override_time; uint32_t last_override_time;
@ -604,8 +603,8 @@ public:
// method for other parts of the system (e.g. Button and mavlink) // method for other parts of the system (e.g. Button and mavlink)
// to trigger auxiliary functions // to trigger auxiliary functions
bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTrigger::Source source) { bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTrigger::Source source, uint16_t source_index) {
return rc_channel(0)->run_aux_function(ch_option, pos, source); return rc_channel(0)->run_aux_function(ch_option, pos, source, source_index);
} }
// check if flight mode channel is assigned RC option // check if flight mode channel is assigned RC option