Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: add GUIDED_OPTIONS to allow arming from transmitter

This commit is contained in:
Randy Mackay 2020-10-14 14:25:41 +09:00
parent b0363a01b0
commit eb3aca7acf
4 changed files with 30 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduCopter/Parameters.cpp
View File

@ -985,6 +985,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("AUTO_OPTIONS", 40, ParametersG2, auto_options, 0), AP_GROUPINFO("AUTO_OPTIONS", 40, ParametersG2, auto_options, 0),
#endif #endif
#if MODE_GUIDED_ENABLED == ENABLED
// @Param: GUIDED_OPTIONS
// @DisplayName: Guided mode options
// @Description: Options that can be applied to change guided mode behaviour
// @Bitmask: 0:Allow Arming from Transmitter
// @User: Advanced
AP_GROUPINFO("GUIDED_OPTIONS", 41, ParametersG2, guided_options, 0),
#endif
AP_GROUPEND AP_GROUPEND
}; };

4
ArduCopter/Parameters.h
View File

@ -623,6 +623,10 @@ public:
AP_Int32 auto_options; AP_Int32 auto_options;
#endif #endif
#if MODE_GUIDED_ENABLED == ENABLED
AP_Int32 guided_options;
#endif
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

7
ArduCopter/mode.h
View File

@ -794,7 +794,7 @@ public:
bool requires_GPS() const override { return true; } bool requires_GPS() const override { return true; }
bool has_manual_throttle() const override { return false; } bool has_manual_throttle() const override { return false; }
bool allows_arming(bool from_gcs) const override { return from_gcs; } bool allows_arming(bool from_gcs) const override;
bool is_autopilot() const override { return true; } bool is_autopilot() const override { return true; }
bool has_user_takeoff(bool must_navigate) const override { return true; } bool has_user_takeoff(bool must_navigate) const override { return true; }
bool in_guided_mode() const override { return true; } bool in_guided_mode() const override { return true; }
@ -833,6 +833,11 @@ protected:
private: private:
// enum for GUIDED_OPTIONS parameter
enum class Options : int32_t {
AllowArmingFromTX = (1 << 0U),
};
void pos_control_start(); void pos_control_start();
void vel_control_start(); void vel_control_start();
void posvel_control_start(); void posvel_control_start();

11
ArduCopter/mode_guided.cpp
View File

@ -384,6 +384,17 @@ void ModeGuided::run()
} }
} }
bool ModeGuided::allows_arming(bool from_gcs) const
{
// always allow arming from the ground station
if (from_gcs) {
return true;
}
// optionally allow arming from the transmitter
return (copter.g2.guided_options & (int32_t)Options::AllowArmingFromTX) != 0;
};
// guided_takeoff_run - takeoff in guided mode // guided_takeoff_run - takeoff in guided mode
// called by guided_run at 100hz or more // called by guided_run at 100hz or more
void ModeGuided::takeoff_run() void ModeGuided::takeoff_run()