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Copter: Ch7/8 option to retract mount

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-Define AUX_SWITCH_RETRACT_MOUNT in defines.h
-Added 27=Retract Mount to Parameters.pde CH7 and CH8
-added int on CH7/8opt AUX_SWITCH_RETRACT_MOUNT
-Added Case #if Mount == ENABLE to set mount mode
made set_mode public in AP_Mount.h lib
This commit is contained in:
svefro 2014-07-10 13:00:28 +09:00 committed by Randy Mackay
parent 4c3480796d
commit e892b4cd04
3 changed files with 18 additions and 4 deletions
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6
ArduCopter/Parameters.pde
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@ -377,15 +377,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function if performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits
// @User: Standard
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount // @User: Standard
GSCALAR(ch7_option, "CH7_OPT", CH7_OPTION),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function if performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits
// @User: Standard
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount // @User: Standard
GSCALAR(ch8_option, "CH8_OPT", CH8_OPTION),
// @Param: ARMING_CHECK

15
ArduCopter/control_modes.pde
View File

@ -112,6 +112,7 @@ static void init_aux_switches()
case AUX_SWITCH_EKF:
case AUX_SWITCH_PARACHUTE_ENABLE:
case AUX_SWITCH_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUX_SWITCH_RETRACT_MOUNT:
case AUX_SWITCH_MISSIONRESET:
case AUX_SWITCH_ATTCON_FEEDFWD:
case AUX_SWITCH_ATTCON_ACCEL_LIM:
@ -132,6 +133,7 @@ static void init_aux_switches()
case AUX_SWITCH_EKF:
case AUX_SWITCH_PARACHUTE_ENABLE:
case AUX_SWITCH_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUX_SWITCH_RETRACT_MOUNT:
case AUX_SWITCH_MISSIONRESET:
case AUX_SWITCH_ATTCON_FEEDFWD:
case AUX_SWITCH_ATTCON_ACCEL_LIM:
@ -425,6 +427,19 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
// enable or disable accel limiting by restoring defaults
attitude_control.accel_limiting(ch_flag == AUX_SWITCH_HIGH);
break;
#if MOUNT == ENABLE
case AUX_SWITCH_RETRACT_MOUNT:
switch (ch_flag) {
case AUX_SWITCH_HIGH:
camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
break;
case AUX_SWITCH_LOW:
camera_mount.set_mode_to_default();
break;
}
break;
#endif
}
}

1
ArduCopter/defines.h
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@ -59,6 +59,7 @@
#define AUX_SWITCH_MISSIONRESET 24 // Reset auto mission to start from first command
#define AUX_SWITCH_ATTCON_FEEDFWD 25 // enable/disable the roll and pitch rate feed forward
#define AUX_SWITCH_ATTCON_ACCEL_LIM 26 // enable/disable the roll, pitch and yaw accel limiting
#define AUX_SWITCH_RETRACT_MOUNT 27 // Retract Mount
// values used by the ap.ch7_opt and ap.ch8_opt flags
#define AUX_SWITCH_LOW 0 // indicates auxiliar switch is in the low position (pwm <1200)