mirror of https://github.com/ArduPilot/ardupilot
RC_Channel: log auxillary function invocations
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@ -893,6 +893,32 @@ void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
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mission->reset();
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}
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bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
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{
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const bool ret = do_aux_function(ch_option, pos);
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// @LoggerMessage: AUXF
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// @Description: Auixillary function invocation information
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// @Field: TimeUS: Time since system startup
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// @Field: function: ID of triggered function
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// @Field: pos: switch position when function triggered
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// @Field: source: source of auxillary function invocation
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// @Field: result: true if function was successful
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AP::logger().Write(
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"AUXF",
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"TimeUS,function,pos,source,result",
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"s----",
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"F----",
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"QHBBB",
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AP_HAL::micros64(),
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uint16_t(ch_option),
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uint8_t(pos),
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uint8_t(source),
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uint8_t(ret)
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);
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return ret;
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}
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bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
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{
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switch(ch_option) {
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@ -238,11 +238,20 @@ public:
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HIGH // indicates auxiliary switch is in the high position (pwm >1800)
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};
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enum class AuxFuncTriggerSource : uint8_t {
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INIT,
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RC,
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BUTTON,
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MAVLINK,
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MISSION,
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};
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bool read_3pos_switch(AuxSwitchPos &ret) const WARN_IF_UNUSED;
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bool read_6pos_switch(int8_t& position) WARN_IF_UNUSED;
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AuxSwitchPos get_aux_switch_pos() const;
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virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
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// wrapper function around do_aux_function which allows us to log
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bool run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
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#if !HAL_MINIMIZE_FEATURES
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const char *string_for_aux_function(AUX_FUNC function) const;
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@ -266,6 +275,9 @@ protected:
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virtual void init_aux_function(aux_func_t ch_option, AuxSwitchPos);
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// virtual function to be overridden my subclasses
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virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
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virtual void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
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void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
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void do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag);
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@ -483,8 +495,10 @@ public:
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uint32_t last_input_ms() const { return last_update_ms; };
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bool do_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos) {
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return rc_channel(0)->do_aux_function(ch_option, pos);
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// method for other parts of the system (e.g. Button and mavlink)
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// to trigger auxillary functions
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bool run_aux_function(RC_Channel::AUX_FUNC ch_option, RC_Channel::AuxSwitchPos pos, RC_Channel::AuxFuncTriggerSource source) {
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return rc_channel(0)->run_aux_function(ch_option, pos, source);
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}
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protected:
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