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Copter: add throw mode to aux switches

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This commit is contained in:
Randy Mackay 2016-03-03 15:27:55 +09:00
parent dca89e7fe7
commit a93a0d370a
3 changed files with 20 additions and 7 deletions
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12
ArduCopter/Parameters.cpp
View File

@ -404,42 +404,42 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: CH7_OPT // @Param: CH7_OPT
// @DisplayName: Channel 7 option // @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm // @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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 // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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
// @User: Standard // @User: Standard
GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING), GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING),
// @Param: CH8_OPT // @Param: CH8_OPT
// @DisplayName: Channel 8 option // @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm // @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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 // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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
// @User: Standard // @User: Standard
GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING), GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING),
// @Param: CH9_OPT // @Param: CH9_OPT
// @DisplayName: Channel 9 option // @DisplayName: Channel 9 option
// @Description: Select which function if performed when CH9 is above 1800 pwm // @Description: Select which function if performed when CH9 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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 // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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
// @User: Standard // @User: Standard
GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING), GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING),
// @Param: CH10_OPT // @Param: CH10_OPT
// @DisplayName: Channel 10 option // @DisplayName: Channel 10 option
// @Description: Select which function if performed when CH10 is above 1800 pwm // @Description: Select which function if performed when CH10 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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 // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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
// @User: Standard // @User: Standard
GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING), GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING),
// @Param: CH11_OPT // @Param: CH11_OPT
// @DisplayName: Channel 11 option // @DisplayName: Channel 11 option
// @Description: Select which function if performed when CH11 is above 1800 pwm // @Description: Select which function if performed when CH11 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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 // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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
// @User: Standard // @User: Standard
GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING), GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING),
// @Param: CH12_OPT // @Param: CH12_OPT
// @DisplayName: Channel 12 option // @DisplayName: Channel 12 option
// @Description: Select which function if performed when CH12 is above 1800 pwm // @Description: Select which function if performed when CH12 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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 // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 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
// @User: Standard // @User: Standard
GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING), GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING),

3
ArduCopter/defines.h
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@ -68,7 +68,8 @@ enum aux_sw_func {
AUXSW_BRAKE = 33, // Brake flight mode AUXSW_BRAKE = 33, // Brake flight mode
AUXSW_RELAY2 = 34, // Relay2 pin on/off (in Mission planner set CH8_OPT = 34) AUXSW_RELAY2 = 34, // Relay2 pin on/off (in Mission planner set CH8_OPT = 34)
AUXSW_RELAY3 = 35, // Relay3 pin on/off (in Mission planner set CH9_OPT = 35) AUXSW_RELAY3 = 35, // Relay3 pin on/off (in Mission planner set CH9_OPT = 35)
AUXSW_RELAY4 = 36 // Relay4 pin on/off (in Mission planner set CH10_OPT = 36) AUXSW_RELAY4 = 36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36)
AUXSW_THROW = 37 // change to THROW flight mode
}; };
// Frame types // Frame types

12
ArduCopter/switches.cpp
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@ -589,6 +589,18 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
} }
} }
break; break;
case AUXSW_THROW:
// throw flight mode
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(THROW);
} else {
// return to flight mode switch's flight mode if we are currently in throw mode
if (control_mode == THROW) {
reset_control_switch();
}
}
break;
} }
} }