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Copter: move RETRACT_MOUNT option to common for all vehicles

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Hwurzburg 2020-11-22 07:24:47 -06:00 committed by Peter Barker
parent ae8fe818c8
commit e015956b6e
1 changed files with 1 additions and 17 deletions
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18
ArduCopter/RC_Channel.cpp
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@ -2,6 +2,7 @@
#include "RC_Channel.h" #include "RC_Channel.h"
// defining these two macros and including the RC_Channels_VarInfo header defines the parameter information common to all vehicle types // defining these two macros and including the RC_Channels_VarInfo header defines the parameter information common to all vehicle types
#define RC_CHANNELS_SUBCLASS RC_Channels_Copter #define RC_CHANNELS_SUBCLASS RC_Channels_Copter
#define RC_CHANNEL_SUBCLASS RC_Channel_Copter #define RC_CHANNEL_SUBCLASS RC_Channel_Copter
@ -107,7 +108,6 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
case AUX_FUNC::PARACHUTE_ENABLE: case AUX_FUNC::PARACHUTE_ENABLE:
case AUX_FUNC::PRECISION_LOITER: case AUX_FUNC::PRECISION_LOITER:
case AUX_FUNC::RANGEFINDER: case AUX_FUNC::RANGEFINDER:
case AUX_FUNC::RETRACT_MOUNT:
case AUX_FUNC::SIMPLE_MODE: case AUX_FUNC::SIMPLE_MODE:
case AUX_FUNC::STANDBY: case AUX_FUNC::STANDBY:
case AUX_FUNC::SUPERSIMPLE_MODE: case AUX_FUNC::SUPERSIMPLE_MODE:
@ -363,22 +363,6 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
copter.attitude_control->accel_limiting(ch_flag == AuxSwitchPos::HIGH); copter.attitude_control->accel_limiting(ch_flag == AuxSwitchPos::HIGH);
break; break;
case AUX_FUNC::RETRACT_MOUNT:
#if HAL_MOUNT_ENABLED
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
copter.camera_mount.set_mode_to_default();
break;
}
#endif
break;
case AUX_FUNC::MOTOR_INTERLOCK: case AUX_FUNC::MOTOR_INTERLOCK:
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// The interlock logic for ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH is handled // The interlock logic for ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH is handled