From b2bd8d575933b8a2ead57024186314d7a6a65447 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 27 Nov 2019 14:09:52 +1100 Subject: [PATCH] RC_Channel: add support for RichenPower generator control --- libraries/RC_Channel/RC_Channel.cpp | 34 +++++++++++++++++++++++++++-- libraries/RC_Channel/RC_Channel.h | 2 ++ 2 files changed, 34 insertions(+), 2 deletions(-) diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index cf7da982bc..ad01227d48 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -33,6 +33,7 @@ extern const AP_HAL::HAL& hal; #include #include #include +#include #include #include #include @@ -92,9 +93,9 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = { // @Param: OPTION // @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, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw + // @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, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw // @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 207:MainSail - // @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 208:Flap + // @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 85:Generator, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 208:Flap // @User: Standard AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE), @@ -468,6 +469,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo case AUX_FUNC::VISODOM_CALIBRATE: case AUX_FUNC::EKF_LANE_SWITCH: case AUX_FUNC::EKF_YAW_RESET: + case AUX_FUNC::GENERATOR: // don't turn generator on or off initially break; case AUX_FUNC::AVOID_ADSB: case AUX_FUNC::AVOID_PROXIMITY: @@ -741,6 +743,28 @@ void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val) servorelayevents->do_set_relay(relay, val); } +#if GENERATOR_ENABLED +void RC_Channel::do_aux_function_generator(const AuxSwitchPos ch_flag) +{ + AP_Generator_RichenPower *generator = AP::generator(); + if (generator == nullptr) { + return; + } + + switch (ch_flag) { + case AuxSwitchPos::LOW: + generator->stop(); + break; + case AuxSwitchPos::MIDDLE: + generator->idle(); + break; + case AuxSwitchPos::HIGH: + generator->run(); + break; + } +} +#endif + void RC_Channel::do_aux_function_sprayer(const AuxSwitchPos ch_flag) { #if HAL_SPRAYER_ENABLED @@ -881,6 +905,12 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos do_aux_function_avoid_adsb(ch_flag); break; +#if GENERATOR_ENABLED + case AUX_FUNC::GENERATOR: + do_aux_function_generator(ch_flag); + break; +#endif + case AUX_FUNC::SPRAYER: do_aux_function_sprayer(ch_flag); break; diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h index e825e19e91..f883f662f7 100644 --- a/libraries/RC_Channel/RC_Channel.h +++ b/libraries/RC_Channel/RC_Channel.h @@ -184,6 +184,7 @@ public: AIRMODE = 84, // enable / disable airmode for copter // entries from 100 onwards are expected to be developer // options used for testing + GENERATOR = 85, // generator control KILL_IMU1 = 100, // disable first IMU (for IMU failure testing) KILL_IMU2 = 101, // disable second IMU (for IMU failure testing) CAM_MODE_TOGGLE = 102, // Momentary switch to cycle camera modes @@ -228,6 +229,7 @@ protected: void do_aux_function_rc_override_enable(const AuxSwitchPos ch_flag); void do_aux_function_relay(uint8_t relay, bool val); void do_aux_function_sprayer(const AuxSwitchPos ch_flag); + void do_aux_function_generator(const AuxSwitchPos ch_flag); typedef int8_t modeswitch_pos_t; virtual void mode_switch_changed(modeswitch_pos_t new_pos) {