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Copter: add gripper release FS_Option

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Iampete1 2020-08-14 20:40:20 +01:00 committed by Randy Mackay
parent af1bdcfdfc
commit c265a38344
3 changed files with 8 additions and 1 deletions
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1
ArduCopter/Copter.h
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@ -607,6 +607,7 @@ private:
RC_CONTINUE_IF_GUIDED = (1<<2), // 4
CONTINUE_IF_LANDING = (1<<3), // 8
GCS_CONTINUE_IF_PILOT_CONTROL = (1<<4), // 16
RELEASE_GRIPPER = (1<<5), // 32
};
static constexpr int8_t _failsafe_priorities[] = {

2
ArduCopter/Parameters.cpp
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@ -951,7 +951,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @DisplayName: Failsafe options bitmask
// @Description: Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
// @Values: 0:Disabled, 1:Continue if in Auto on RC failsafe only, 2:Continue if in Auto on GCS failsafe only, 3:Continue if in Auto on RC and/or GCS failsafe, 4:Continue if in Guided on RC failsafe only, 8:Continue if landing on any failsafe, 16:Continue if in pilot controlled modes on GCS failsafe, 19:Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe
// @Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe
// @Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper
// @User: Advanced
AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, 0),

6
ArduCopter/events.cpp
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@ -378,5 +378,11 @@ void Copter::do_failsafe_action(Failsafe_Action action, ModeReason reason){
arming.disarm(AP_Arming::Method::FAILSAFE_ACTION_TERMINATE);
#endif
}
#if GRIPPER_ENABLED == ENABLED
if (failsafe_option(FailsafeOption::RELEASE_GRIPPER)) {
copter.g2.gripper.release();
}
#endif
}