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RC_Channel: Add a MOUNT2 retract 

Update libraries/RC_Channel/RC_Channel.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
This commit is contained in:
muramura 2024-06-21 20:49:30 +09:00 committed by Andrew Tridgell
parent 31f3a796f1
commit d6a79c0e02
2 changed files with 41 additions and 17 deletions
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54
libraries/RC_Channel/RC_Channel.cpp
View File

@ -209,6 +209,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Values{Copter}: 109:use Custom Controller
// @Values{Copter, Rover, Plane, Blimp}: 110:KillIMU3
// @Values{Copter,Plane,Rover,Blimp,Sub,Tracker}: 112:SwitchExternalAHRS
// @Values{Copter, Rover, Plane}: 113:Retract Mount2
// @Values{Plane}: 150:CRUISE Mode
// @Values{Copter}: 151:TURTLE Mode
// @Values{Copter}: 152:SIMPLE heading reset
@ -731,6 +732,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
case AUX_FUNC::FFT_NOTCH_TUNE:
#if HAL_MOUNT_ENABLED
case AUX_FUNC::RETRACT_MOUNT1:
case AUX_FUNC::RETRACT_MOUNT2:
case AUX_FUNC::MOUNT_LOCK:
#endif
#if HAL_LOGGING_ENABLED
@ -770,7 +772,10 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::PARACHUTE_RELEASE,"ParachuteRelease"},
{ AUX_FUNC::PARACHUTE_3POS,"Parachute3Position"},
{ AUX_FUNC::MISSION_RESET,"MissionReset"},
#if HAL_MOUNT_ENABLED
{ AUX_FUNC::RETRACT_MOUNT1,"RetractMount1"},
{ AUX_FUNC::RETRACT_MOUNT2,"RetractMount2"},
#endif
{ AUX_FUNC::RELAY,"Relay1"},
{ AUX_FUNC::MOTOR_ESTOP,"MotorEStop"},
{ AUX_FUNC::MOTOR_INTERLOCK,"MotorInterlock"},
@ -1282,6 +1287,34 @@ void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
#endif
}
/**
* Perform the RETRACT_MOUNT 1/2 process.
*
* @param [in] ch_flag Position of the switch. HIGH, MIDDLE and LOW.
* @param [in] instance 0: RETRACT MOUNT 1 <br>
* 1: RETRACT MOUNT 2
*/
#if HAL_MOUNT_ENABLED
void RC_Channel::do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const uint8_t instance)
{
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return;
}
switch (ch_flag) {
case AuxSwitchPos::HIGH:
mount->set_mode(instance,MAV_MOUNT_MODE_RETRACT);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
mount->set_mode_to_default(instance);
break;
}
}
#endif // HAL_MOUNT_ENABLED
bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
{
#if AP_SCRIPTING_ENABLED
@ -1608,24 +1641,13 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
#endif // AP_CAMERA_ENABLED
#if HAL_MOUNT_ENABLED
case AUX_FUNC::RETRACT_MOUNT1: {
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
case AUX_FUNC::RETRACT_MOUNT1:
do_aux_function_retract_mount(ch_flag, 0);
break;
}
switch (ch_flag) {
case AuxSwitchPos::HIGH:
mount->set_mode(0,MAV_MOUNT_MODE_RETRACT);
case AUX_FUNC::RETRACT_MOUNT2:
do_aux_function_retract_mount(ch_flag, 1);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
mount->set_mode_to_default(0);
break;
}
break;
}
case AUX_FUNC::MOUNT_LOCK: {
AP_Mount *mount = AP::mount();

2
libraries/RC_Channel/RC_Channel.h
View File

@ -217,6 +217,7 @@ public:
KILL_IMU3 = 110, // disable third IMU (for IMU failure testing)
LOWEHEISER_STARTER = 111, // allows for manually running starter
AHRS_TYPE = 112, // change AHRS_EKF_TYPE
RETRACT_MOUNT2 = 113, // Retract Mount2
// if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
// also, if you add an option >255, you will need to fix duplicate_options_exist
@ -362,6 +363,7 @@ protected:
void do_aux_function_sprayer(const AuxSwitchPos ch_flag);
void do_aux_function_generator(const AuxSwitchPos ch_flag);
void do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag);
void do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const uint8_t instance);
typedef int8_t modeswitch_pos_t;
virtual void mode_switch_changed(modeswitch_pos_t new_pos) {