mirror of https://github.com/ArduPilot/ardupilot
RC_Channel: remove AUX_FUNC entries based on feature defines
This commit is contained in:
Peter Barker
Peter Barker
parent
3dd44dd8e0
commit
b09e546fce
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@ -59,6 +59,7 @@ extern const AP_HAL::HAL& hal;
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#include <AP_VideoTX/AP_VideoTX.h>
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#include <AP_Torqeedo/AP_Torqeedo.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_Parachute/AP_Parachute_config.h>
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#define SWITCH_DEBOUNCE_TIME_MS 200
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const AP_Param::GroupInfo RC_Channel::var_info[] = {
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@ -628,17 +629,23 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
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// init channel options
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switch (ch_option) {
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// the following functions do not need to be initialised:
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#if AP_ARMING_ENABLED
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case AUX_FUNC::ARMDISARM:
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case AUX_FUNC::ARMDISARM_AIRMODE:
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#endif
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#if AP_BATTERY_ENABLED
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case AUX_FUNC::BATTERY_MPPT_ENABLE:
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#endif
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#if AP_CAMERA_ENABLED
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case AUX_FUNC::CAMERA_TRIGGER:
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#endif
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#if AP_MISSION_ENABLED
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case AUX_FUNC::CLEAR_WP:
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#endif
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case AUX_FUNC::COMPASS_LEARN:
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#if AP_ARMING_ENABLED
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case AUX_FUNC::DISARM:
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#endif
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case AUX_FUNC::DO_NOTHING:
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#if AP_LANDINGGEAR_ENABLED
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case AUX_FUNC::LANDING_GEAR:
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@ -655,12 +662,16 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
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#if HAL_VISUALODOM_ENABLED
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case AUX_FUNC::VISODOM_ALIGN:
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#endif
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#if AP_AHRS_ENABLED
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case AUX_FUNC::EKF_LANE_SWITCH:
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case AUX_FUNC::EKF_YAW_RESET:
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#endif
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#if HAL_GENERATOR_ENABLED
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case AUX_FUNC::GENERATOR: // don't turn generator on or off initially
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#endif
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#if AP_AHRS_ENABLED
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case AUX_FUNC::EKF_POS_SOURCE:
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#endif
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#if HAL_TORQEEDO_ENABLED
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case AUX_FUNC::TORQEEDO_CLEAR_ERR:
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#endif
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@ -689,19 +700,23 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
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case AUX_FUNC::MOUNT2_PITCH:
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case AUX_FUNC::MOUNT2_YAW:
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#endif
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#if HAL_GENERATOR_ENABLED
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case AUX_FUNC::LOWEHEISER_STARTER:
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#endif
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#if COMPASS_CAL_ENABLED
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case AUX_FUNC::MAG_CAL:
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#endif
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#if AP_CAMERA_ENABLED
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case AUX_FUNC::CAMERA_IMAGE_TRACKING:
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#endif
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#if HAL_MOUNT_ENABLED
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case AUX_FUNC::MOUNT_LRF_ENABLE:
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#endif
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#if HAL_GENERATOR_ENABLED
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case AUX_FUNC::LOWEHEISER_THROTTLE:
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#endif
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break;
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// not really aux functions:
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case AUX_FUNC::LOWEHEISER_THROTTLE:
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break;
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#if HAL_ADSB_ENABLED
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case AUX_FUNC::AVOID_ADSB:
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#endif
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@ -721,7 +736,9 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
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case AUX_FUNC::KILL_IMU2:
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case AUX_FUNC::KILL_IMU3:
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#endif
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#if AP_MISSION_ENABLED
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case AUX_FUNC::MISSION_RESET:
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#endif
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case AUX_FUNC::MOTOR_ESTOP:
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case AUX_FUNC::RC_OVERRIDE_ENABLE:
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#if HAL_RUNCAM_ENABLED
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@ -731,7 +748,9 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
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#if HAL_SPRAYER_ENABLED
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case AUX_FUNC::SPRAYER:
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#endif
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#if AP_AIRSPEED_ENABLED
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case AUX_FUNC::DISABLE_AIRSPEED_USE:
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#endif
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case AUX_FUNC::FFT_NOTCH_TUNE:
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#if HAL_MOUNT_ENABLED
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case AUX_FUNC::RETRACT_MOUNT1:
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@ -749,9 +768,11 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
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case AUX_FUNC::CAMERA_AUTO_FOCUS:
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case AUX_FUNC::CAMERA_LENS:
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#endif
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#if AP_AHRS_ENABLED
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case AUX_FUNC::AHRS_TYPE:
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run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
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break;
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#endif
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default:
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Failed to init: RC%u_OPTION: %u\n",
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(unsigned)(this->ch_in+1), (unsigned)ch_option);
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@ -766,61 +787,111 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
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#if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
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const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
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#if AP_MISSION_ENABLED
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{ AUX_FUNC::SAVE_WP,"SaveWaypoint"},
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#endif
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#if AP_CAMERA_ENABLED
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{ AUX_FUNC::CAMERA_TRIGGER,"CameraTrigger"},
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#endif
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#if AP_RANGEFINDER_ENABLED
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{ AUX_FUNC::RANGEFINDER,"Rangefinder"},
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#endif
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#if AP_FENCE_ENABLED
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{ AUX_FUNC::FENCE,"Fence"},
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#endif
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#if HAL_SPRAYER_ENABLED
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{ AUX_FUNC::SPRAYER,"Sprayer"},
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#endif
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#if HAL_PARACHUTE_ENABLED
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{ AUX_FUNC::PARACHUTE_ENABLE,"ParachuteEnable"},
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{ AUX_FUNC::PARACHUTE_RELEASE,"ParachuteRelease"},
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{ AUX_FUNC::PARACHUTE_3POS,"Parachute3Position"},
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#endif
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#if AP_MISSION_ENABLED
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{ AUX_FUNC::MISSION_RESET,"MissionReset"},
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#endif
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#if HAL_MOUNT_ENABLED
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{ AUX_FUNC::RETRACT_MOUNT1,"RetractMount1"},
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{ AUX_FUNC::RETRACT_MOUNT2,"RetractMount2"},
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#endif
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#if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
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{ AUX_FUNC::RELAY,"Relay1"},
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#endif
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{ AUX_FUNC::MOTOR_ESTOP,"MotorEStop"},
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{ AUX_FUNC::MOTOR_INTERLOCK,"MotorInterlock"},
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#if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
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{ AUX_FUNC::RELAY2,"Relay2"},
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{ AUX_FUNC::RELAY3,"Relay3"},
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{ AUX_FUNC::RELAY4,"Relay4"},
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#endif
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{ AUX_FUNC::PRECISION_LOITER,"PrecisionLoiter"},
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{ AUX_FUNC::AVOID_PROXIMITY,"AvoidProximity"},
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#if AP_WINCH_ENABLED
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{ AUX_FUNC::WINCH_ENABLE,"WinchEnable"},
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{ AUX_FUNC::WINCH_CONTROL,"WinchControl"},
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#endif
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#if AP_MISSION_ENABLED
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{ AUX_FUNC::CLEAR_WP,"ClearWaypoint"},
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#endif
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{ AUX_FUNC::COMPASS_LEARN,"CompassLearn"},
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{ AUX_FUNC::SAILBOAT_TACK,"SailboatTack"},
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#if AP_GPS_ENABLED
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{ AUX_FUNC::GPS_DISABLE,"GPSDisable"},
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{ AUX_FUNC::GPS_DISABLE_YAW,"GPSDisableYaw"},
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#endif
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#if AP_AIRSPEED_ENABLED
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{ AUX_FUNC::DISABLE_AIRSPEED_USE,"DisableAirspeedUse"},
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#endif
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#if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
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{ AUX_FUNC::RELAY5,"Relay5"},
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{ AUX_FUNC::RELAY6,"Relay6"},
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#endif
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{ AUX_FUNC::SAILBOAT_MOTOR_3POS,"SailboatMotor"},
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{ AUX_FUNC::SURFACE_TRACKING,"SurfaceTracking"},
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#if HAL_RUNCAM_ENABLED
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{ AUX_FUNC::RUNCAM_CONTROL,"RunCamControl"},
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{ AUX_FUNC::RUNCAM_OSD_CONTROL,"RunCamOSDControl"},
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#endif
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#if HAL_VISUALODOM_ENABLED
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{ AUX_FUNC::VISODOM_ALIGN,"VisOdomAlign"},
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#endif
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{ AUX_FUNC::AIRMODE, "AirMode"},
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#if AP_CAMERA_ENABLED
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{ AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"},
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#endif
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#if HAL_GENERATOR_ENABLED
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{ AUX_FUNC::GENERATOR,"Generator"},
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#endif
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#if AP_BATTERY_ENABLED
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{ AUX_FUNC::BATTERY_MPPT_ENABLE,"Battery MPPT Enable"},
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#endif
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#if AP_AIRSPEED_AUTOCAL_ENABLE
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{ AUX_FUNC::ARSPD_CALIBRATE,"Calibrate Airspeed"},
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#endif
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#if HAL_TORQEEDO_ENABLED
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{ AUX_FUNC::TORQEEDO_CLEAR_ERR, "Torqeedo Clear Err"},
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#endif
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{ AUX_FUNC::EMERGENCY_LANDING_EN, "Emergency Landing"},
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{ AUX_FUNC::WEATHER_VANE_ENABLE, "Weathervane"},
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{ AUX_FUNC::TURBINE_START, "Turbine Start"},
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{ AUX_FUNC::FFT_NOTCH_TUNE, "FFT Notch Tuning"},
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#if HAL_MOUNT_ENABLED
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{ AUX_FUNC::MOUNT_LOCK, "MountLock"},
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#endif
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#if HAL_LOGGING_ENABLED
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{ AUX_FUNC::LOG_PAUSE, "Pause Stream Logging"},
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#endif
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#if AP_CAMERA_ENABLED
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{ AUX_FUNC::CAMERA_REC_VIDEO, "Camera Record Video"},
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{ AUX_FUNC::CAMERA_ZOOM, "Camera Zoom"},
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{ AUX_FUNC::CAMERA_MANUAL_FOCUS, "Camera Manual Focus"},
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{ AUX_FUNC::CAMERA_AUTO_FOCUS, "Camera Auto Focus"},
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{ AUX_FUNC::CAMERA_IMAGE_TRACKING, "Camera Image Tracking"},
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{ AUX_FUNC::CAMERA_LENS, "Camera Lens"},
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#endif
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#if HAL_MOUNT_ENABLED
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{ AUX_FUNC::MOUNT_LRF_ENABLE, "Mount LRF Enable"},
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#endif
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};
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/* lookup the announcement for switch change */
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@ -910,10 +981,14 @@ bool RC_Channel::read_aux()
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bool RC_Channel::init_position_on_first_radio_read(AUX_FUNC func) const
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{
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switch (func) {
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#if AP_ARMING_ENABLED
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case AUX_FUNC::ARMDISARM_AIRMODE:
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case AUX_FUNC::ARMDISARM:
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case AUX_FUNC::ARM_EMERGENCY_STOP:
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#endif
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#if HAL_PARACHUTE_ENABLED
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case AUX_FUNC::PARACHUTE_RELEASE:
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#endif
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// we do not want to process
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return true;
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@ -1408,12 +1483,14 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
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break;
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#endif
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#if AP_MISSION_ENABLED
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case AUX_FUNC::CLEAR_WP:
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do_aux_function_clear_wp(ch_flag);
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break;
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case AUX_FUNC::MISSION_RESET:
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do_aux_function_mission_reset(ch_flag);
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break;
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#endif
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#if HAL_ADSB_ENABLED
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case AUX_FUNC::AVOID_ADSB:
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@ -1449,6 +1526,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
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do_aux_function_lost_vehicle_sound(ch_flag);
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break;
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#if AP_ARMING_ENABLED
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case AUX_FUNC::ARMDISARM:
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do_aux_function_armdisarm(ch_flag);
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break;
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@ -1458,6 +1536,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
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AP::arming().disarm(AP_Arming::Method::AUXSWITCH);
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}
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break;
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#endif
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case AUX_FUNC::COMPASS_LEARN:
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if (ch_flag == AuxSwitchPos::HIGH) {
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@ -1734,6 +1813,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
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break;
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}
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#if AP_AHRS_ENABLED
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case AUX_FUNC::EKF_LANE_SWITCH:
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// used to test emergency lane switch
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AP::ahrs().check_lane_switch();
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@ -1750,7 +1830,7 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
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#endif
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break;
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}
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#endif // AP_AHRS_ENABLED
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#if HAL_TORQEEDO_ENABLED
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// clear torqeedo error
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@ -1766,12 +1846,15 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
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#endif
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// do nothing for these functions
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#if HAL_MOUNT_ENABLED
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case AUX_FUNC::MOUNT1_ROLL:
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case AUX_FUNC::MOUNT1_PITCH:
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case AUX_FUNC::MOUNT1_YAW:
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case AUX_FUNC::MOUNT2_ROLL:
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case AUX_FUNC::MOUNT2_PITCH:
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case AUX_FUNC::MOUNT2_YAW:
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#endif
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#if AP_SCRIPTING_ENABLED
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case AUX_FUNC::SCRIPTING_1:
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case AUX_FUNC::SCRIPTING_2:
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case AUX_FUNC::SCRIPTING_3:
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@ -1780,12 +1863,15 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
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case AUX_FUNC::SCRIPTING_6:
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case AUX_FUNC::SCRIPTING_7:
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case AUX_FUNC::SCRIPTING_8:
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#endif
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break;
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#if HAL_GENERATOR_ENABLED
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case AUX_FUNC::LOWEHEISER_THROTTLE:
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case AUX_FUNC::LOWEHEISER_STARTER:
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// monitored by the library itself
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break;
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#endif
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default:
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Invalid channel option (%u)", (unsigned int)ch_option);
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