Rover: add STICK_MIXNG param

APMrover2/GCS_Mavlink.cpp

@@ -32,13 +32,11 @@ MAV_MODE GCS_MAVLINK_Rover::base_mode() const
         _base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
     }
 
-#if defined(ENABLE_STICK_MIXING) && (ENABLE_STICK_MIXING == ENABLED) // TODO ???? Remove !
-    if (control_mode->stick_mixing_enabled()) {
+    if (rover.g2.stick_mixing > 0 && rover.control_mode != &rover.mode_initializing) {
         // all modes except INITIALISING have some form of manual
         // override if stick mixing is enabled
         _base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
     }
-#endif
 
 #if HIL_MODE != HIL_MODE_DISABLED
     _base_mode |= MAV_MODE_FLAG_HIL_ENABLED;

APMrover2/Parameters.cpp

@@ -701,6 +701,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(scripting, "SCR_", 41, ParametersG2, AP_Scripting),
 #endif
 
+    // @Param: STICK_MIXING
+    // @DisplayName: Stick Mixing
+    // @Description: When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes.
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Advanced
+    AP_GROUPINFO("STICK_MIXING", 42, ParametersG2, stick_mixing, 0),
+
     AP_GROUPEND
 };
 

APMrover2/Parameters.h

@@ -397,6 +397,9 @@ public:
     // balance both pitch trim
     AP_Float bal_pitch_trim;
 
+    // stick mixing for auto modes
+    AP_Int8     stick_mixing;
+
 #ifdef ENABLE_SCRIPTING
     AP_Scripting scripting;
 #endif // ENABLE_SCRIPTING

APMrover2/mode.cpp

@@ -557,6 +557,10 @@ void Mode::calc_stopping_location(Location& stopping_loc)
 
 void Mode::set_steering(float steering_value)
 {
+    if (allows_stick_mixing() && g2.stick_mixing > 0) {
+        steering_value = channel_steer->stick_mixing((int16_t)steering_value);
+    }
+    steering_value = constrain_float(steering_value, -4500.0f, 4500.0f);
     g2.motors.set_steering(steering_value);
 }
 

APMrover2/mode.h

@@ -73,6 +73,8 @@ public:
     // returns true if vehicle can be armed or disarmed from the transmitter in this mode
     virtual bool allows_arming_from_transmitter() { return !is_autopilot_mode(); }
 
+    bool allows_stick_mixing() const { return is_autopilot_mode(); }
+
     //
     // attributes for mavlink system status reporting
     //