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Plane: support ARMDISARM_AIRMODE

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This commit is contained in:
Iampete1 2021-09-14 01:11:36 +01:00 committed by Andrew Tridgell
parent cc89a8cc48
commit df36853da2
2 changed files with 18 additions and 1 deletions
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15
ArduPlane/RC_Channel.cpp
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@ -160,11 +160,16 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
case AUX_FUNC::PARACHUTE_RELEASE:
case AUX_FUNC::MODE_SWITCH_RESET:
case AUX_FUNC::CRUISE:
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::ARMDISARM_AIRMODE:
#endif
break;
case AUX_FUNC::Q_ASSIST:
case AUX_FUNC::SOARING:
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::Q_ASSIST:
case AUX_FUNC::AIRMODE:
#endif
#if AP_AIRSPEED_AUTOCAL_ENABLE
case AUX_FUNC::ARSPD_CALIBRATE:
#endif
@ -333,6 +338,14 @@ case AUX_FUNC::ARSPD_CALIBRATE:
do_aux_function_change_mode(Mode::Number::CRUISE, ch_flag);
break;
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::ARMDISARM_AIRMODE:
RC_Channel::do_aux_function_armdisarm(ch_flag);
if (plane.arming.is_armed()) {
plane.quadplane.air_mode = AirMode::ON;
}
break;
#endif
default:
return RC_Channel::do_aux_function(ch_option, ch_flag);

4
ArduPlane/system.cpp
View File

@ -36,7 +36,11 @@ void Plane::init_ardupilot()
// initialise rc channels including setting mode
rc().init();
#if HAL_QUADPLANE_ENABLED
rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, (quadplane.enabled() && (quadplane.options & QuadPlane::OPTION_AIRMODE_UNUSED) && (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr)) ? RC_Channel::AUX_FUNC::ARMDISARM_AIRMODE : RC_Channel::AUX_FUNC::ARMDISARM);
#else
rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
#endif
relay.init();