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RC_Channel: move rc-channel option for lost-vehicle sound up to base class

This commit is contained in:
Peter Barker 2018-08-27 18:15:51 +10:00 committed by Randy Mackay
parent e7c000875e
commit a7acc92663
2 changed files with 23 additions and 2 deletions
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22
libraries/RC_Channel/RC_Channel.cpp
View File

@ -79,7 +79,7 @@ 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:Object 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
// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow
// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 30:Lost Rover Sound, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow
// @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER),
@ -418,6 +418,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
case RELAY3:
case RELAY4:
case CAMERA_TRIGGER:
case LOST_VEHICLE_SOUND:
case DO_NOTHING:
break;
case GRIPPER:
@ -517,6 +518,21 @@ void RC_Channel::do_aux_function_gripper(const aux_switch_pos_t ch_flag)
}
}
void RC_Channel::do_aux_function_lost_vehicle_sound(const aux_switch_pos_t ch_flag)
{
switch (ch_flag) {
case HIGH:
AP_Notify::flags.vehicle_lost = true;
break;
case MIDDLE:
// nothing
break;
case LOW:
AP_Notify::flags.vehicle_lost = false;
break;
}
}
void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{
switch(ch_option) {
@ -545,6 +561,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_sprayer(ch_flag);
break;
case LOST_VEHICLE_SOUND:
do_aux_function_lost_vehicle_sound(ch_flag);
break;
default:
gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option);
break;

3
libraries/RC_Channel/RC_Channel.h
View File

@ -132,7 +132,7 @@ public:
RETRACT_MOUNT = 27, // Retract Mount
RELAY = 28, // Relay pin on/off (only supports first relay)
LANDING_GEAR = 29, // Landing gear controller
LOST_COPTER_SOUND = 30, // Play lost copter sound
LOST_VEHICLE_SOUND = 30, // Play lost vehicle sound
MOTOR_ESTOP = 31, // Emergency Stop Switch
MOTOR_INTERLOCK = 32, // Motor On/Off switch
BRAKE = 33, // Brake flight mode
@ -181,6 +181,7 @@ protected:
void do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag);
void do_aux_function_gripper(const aux_switch_pos_t ch_flag);
void do_aux_function_lost_vehicle_sound(const aux_switch_pos_t ch_flag);
void do_aux_function_relay(uint8_t relay, bool val);
void do_aux_function_sprayer(const aux_switch_pos_t ch_flag);