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ArduCopter: enable/disable precision loiter on a switch

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A switch MUST be assigned for precision loiter to be enabled
This commit is contained in:
Peter Barker 2016-11-17 12:40:49 +11:00 committed by Randy Mackay
parent 2fd6be8ccb
commit e72f5a6240
5 changed files with 24 additions and 6 deletions
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2
ArduCopter/Copter.h
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@ -885,6 +885,8 @@ private:
void loiter_run(); void loiter_run();
bool do_precision_loiter() const; bool do_precision_loiter() const;
void precision_loiter_xy(); void precision_loiter_xy();
void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
bool _precision_loiter_enabled;
bool poshold_init(bool ignore_checks); bool poshold_init(bool ignore_checks);
void poshold_run(); void poshold_run();
void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw); void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw);

12
ArduCopter/Parameters.cpp
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@ -395,42 +395,42 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: CH7_OPT // @Param: CH7_OPT
// @DisplayName: Channel 7 option // @DisplayName: Channel 7 option
// @Description: Select which function is performed when CH7 is above 1800 pwm // @Description: Select which function is performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
// @User: Standard // @User: Standard
GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING), GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING),
// @Param: CH8_OPT // @Param: CH8_OPT
// @DisplayName: Channel 8 option // @DisplayName: Channel 8 option
// @Description: Select which function is performed when CH8 is above 1800 pwm // @Description: Select which function is performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
// @User: Standard // @User: Standard
GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING), GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING),
// @Param: CH9_OPT // @Param: CH9_OPT
// @DisplayName: Channel 9 option // @DisplayName: Channel 9 option
// @Description: Select which function is performed when CH9 is above 1800 pwm // @Description: Select which function is performed when CH9 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
// @User: Standard // @User: Standard
GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING), GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING),
// @Param: CH10_OPT // @Param: CH10_OPT
// @DisplayName: Channel 10 option // @DisplayName: Channel 10 option
// @Description: Select which function is performed when CH10 is above 1800 pwm // @Description: Select which function is performed when CH10 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
// @User: Standard // @User: Standard
GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING), GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING),
// @Param: CH11_OPT // @Param: CH11_OPT
// @DisplayName: Channel 11 option // @DisplayName: Channel 11 option
// @Description: Select which function is performed when CH11 is above 1800 pwm // @Description: Select which function is performed when CH11 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
// @User: Standard // @User: Standard
GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING), GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING),
// @Param: CH12_OPT // @Param: CH12_OPT
// @DisplayName: Channel 12 option // @DisplayName: Channel 12 option
// @Description: Select which function is performed when CH12 is above 1800 pwm // @Description: Select which function is performed when CH12 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:Avoidance, 39:PrecLoiter
// @User: Standard // @User: Standard
GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING), GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING),

3
ArduCopter/control_loiter.cpp
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@ -40,6 +40,9 @@ bool Copter::do_precision_loiter() const
#if PRECISION_LANDING != ENABLED #if PRECISION_LANDING != ENABLED
return false; return false;
#else #else
if (!_precision_loiter_enabled) {
return false;
}
if (ap.land_complete_maybe) { if (ap.land_complete_maybe) {
return false; // don't move on the ground return false; // don't move on the ground
} }

1
ArduCopter/defines.h
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@ -68,6 +68,7 @@ enum aux_sw_func {
AUXSW_RELAY4 = 36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36) AUXSW_RELAY4 = 36, // Relay4 pin on/off (in Mission planner set CH10_OPT = 36)
AUXSW_THROW = 37, // change to THROW flight mode AUXSW_THROW = 37, // change to THROW flight mode
AUXSW_AVOID_ADSB = 38, // enable AP_Avoidance library AUXSW_AVOID_ADSB = 38, // enable AP_Avoidance library
AUXSW_PRECISION_LOITER = 39, // enable precision loiter
AUXSW_SWITCH_MAX, AUXSW_SWITCH_MAX,
}; };

12
ArduCopter/switches.cpp
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@ -548,6 +548,18 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE); Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
} }
break; break;
case AUXSW_PRECISION_LOITER:
switch (ch_flag) {
case AUX_SWITCH_HIGH:
set_precision_loiter_enabled(true);
break;
case AUX_SWITCH_LOW:
set_precision_loiter_enabled(false);
break;
}
break;
} }
} }