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AP_Arming: add RUDDER parameter

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Randy Mackay 2018-09-08 12:30:21 +09:00 committed by Andrew Tridgell
parent 9c13324b87
commit ba2b9f3d47
2 changed files with 25 additions and 0 deletions
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16
libraries/AP_Arming/AP_Arming.cpp
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@ -26,6 +26,12 @@
#define AP_ARMING_ACCEL_ERROR_THRESHOLD 0.75f
#define AP_ARMING_AHRS_GPS_ERROR_MAX 10 // accept up to 10m difference between AHRS and GPS
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define ARMING_RUDDER_DEFAULT ARMING_RUDDER_ARMONLY
#else
#define ARMING_RUDDER_DEFAULT ARMING_RUDDER_ARMDISARM
#endif
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Arming::var_info[] = {
@ -73,6 +79,16 @@ const AP_Param::GroupInfo AP_Arming::var_info[] = {
// @User: Standard
AP_GROUPINFO("VOLT2_MIN", 5, AP_Arming, _min_voltage[1], 0),
// @Param: RUDDER
// @DisplayName: Arming with Rudder enable/disable
// @Description: Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)
// @Values: 0:Disabled,1:ArmingOnly,2:ArmOrDisarm
// @User: Advanced
AP_GROUPINFO_FRAME("RUDDER", 6, AP_Arming, _rudder_arming, ARMING_RUDDER_DEFAULT, AP_PARAM_FRAME_PLANE |
AP_PARAM_FRAME_ROVER |
AP_PARAM_FRAME_COPTER |
AP_PARAM_FRAME_TRICOPTER |
AP_PARAM_FRAME_HELI),
AP_GROUPEND
};

9
libraries/AP_Arming/AP_Arming.h
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@ -68,6 +68,14 @@ public:
// get expected magnetic field strength
uint16_t compass_magfield_expected() const;
// rudder arming support
enum ArmingRudder {
ARMING_RUDDER_DISABLED = 0,
ARMING_RUDDER_ARMONLY = 1,
ARMING_RUDDER_ARMDISARM = 2
};
ArmingRudder rudder_arming() const { return (ArmingRudder)_rudder_arming.get(); }
static const struct AP_Param::GroupInfo var_info[];
protected:
@ -77,6 +85,7 @@ protected:
AP_Int16 checks_to_perform; // bitmask for which checks are required
AP_Float accel_error_threshold;
AP_Float _min_voltage[AP_BATT_MONITOR_MAX_INSTANCES];
AP_Int8 _rudder_arming;
// internal members
bool armed:1;