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Rover: add FRAME_CLASS to differentiate boats from rovers

This commit is contained in:
Randy Mackay 2017-12-07 11:37:42 +09:00
parent 4289190654
commit aa38239629
5 changed files with 25 additions and 0 deletions
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7
APMrover2/Parameters.cpp
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@ -535,6 +535,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("RTL_SPEED", 15, ParametersG2, rtl_speed, 0.0f), AP_GROUPINFO("RTL_SPEED", 15, ParametersG2, rtl_speed, 0.0f),
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Frame Class
// @Values: 0:Undefined,1:Rover,2:Boat
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 16, ParametersG2, frame_class, 1),
AP_GROUPEND AP_GROUPEND
}; };

3
APMrover2/Parameters.h
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@ -326,6 +326,9 @@ public:
// default speeds for auto, rtl // default speeds for auto, rtl
AP_Float wp_speed; AP_Float wp_speed;
AP_Float rtl_speed; AP_Float rtl_speed;
// frame class for vehicle
AP_Int8 frame_class;
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

1
APMrover2/Rover.h
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@ -572,6 +572,7 @@ private:
bool arm_motors(AP_Arming::ArmingMethod method); bool arm_motors(AP_Arming::ArmingMethod method);
bool disarm_motors(void); bool disarm_motors(void);
void smart_rtl_update(); void smart_rtl_update();
bool is_boat() const;
// test.cpp // test.cpp
void print_hit_enter(); void print_hit_enter();

7
APMrover2/defines.h
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@ -139,5 +139,12 @@ enum pilot_steer_type_t {
PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3, PILOT_STEER_TYPE_DIR_UNCHANGED_WHEN_REVERSING = 3,
}; };
// frame class enum used for FRAME_CLASS parameter
enum frame_class {
FRAME_UNDEFINED = 0,
FRAME_ROVER = 1,
FRAME_BOAT = 2
};
#define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked #define AUX_SWITCH_PWM_TRIGGER_HIGH 1800 // pwm value above which the ch7 or ch8 option will be invoked
#define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled #define AUX_SWITCH_PWM_TRIGGER_LOW 1200 // pwm value below which the ch7 or ch8 option will be disabled

7
APMrover2/system.cpp
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@ -367,3 +367,10 @@ void Rover::smart_rtl_update()
const bool save_position = hal.util->get_soft_armed() && (control_mode != &mode_smartrtl); const bool save_position = hal.util->get_soft_armed() && (control_mode != &mode_smartrtl);
mode_smartrtl.save_position(save_position); mode_smartrtl.save_position(save_position);
} }
// returns true if vehicle is a boat
// this affects whether the vehicle tries to maintain position after reaching waypoints
bool Rover::is_boat() const
{
return ((enum frame_class)g2.frame_class.get() == FRAME_BOAT);
}