Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tracker: add reason to set_mode

Browse Source
This commit is contained in:
Peter Barker 2018-02-22 10:02:00 +11:00 committed by Randy Mackay
parent dc5ef168fd
commit f844f4ea80
6 changed files with 15 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
AntennaTracker/GCS_Mavlink.cpp
View File

@ -569,7 +569,7 @@ void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
// mavproxy/mavutil sends this when auto command is entered // mavproxy/mavutil sends this when auto command is entered
case MAV_CMD_MISSION_START: case MAV_CMD_MISSION_START:
tracker.set_mode(AUTO); tracker.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;
@ -816,7 +816,7 @@ bool GCS_MAVLINK_Tracker::set_mode(uint8_t mode)
case SCAN: case SCAN:
case SERVO_TEST: case SERVO_TEST:
case STOP: case STOP:
tracker.set_mode((enum ControlMode)mode); tracker.set_mode((enum ControlMode)mode, MODE_REASON_GCS_COMMAND);
return true; return true;
} }
return false; return false;

2
AntennaTracker/Log.cpp
View File

@ -83,7 +83,7 @@ const struct LogStructure Tracker::log_structure[] = {
void Tracker::Log_Write_Vehicle_Startup_Messages() void Tracker::Log_Write_Vehicle_Startup_Messages()
{ {
DataFlash.Log_Write_Mode(control_mode); DataFlash.Log_Write_Mode(control_mode, MODE_REASON_INITIALISED);
gps.Write_DataFlash_Log_Startup_messages(); gps.Write_DataFlash_Log_Startup_messages();
} }

2
AntennaTracker/Tracker.h
View File

@ -244,7 +244,7 @@ private:
void arm_servos(); void arm_servos();
void disarm_servos(); void disarm_servos();
void prepare_servos(); void prepare_servos();
void set_mode(enum ControlMode mode); void set_mode(enum ControlMode mode, mode_reason_t reason);
void check_usb_mux(void); void check_usb_mux(void);
void update_vehicle_pos_estimate(); void update_vehicle_pos_estimate();
void update_tracker_position(); void update_tracker_position();

2
AntennaTracker/control_servo_test.cpp
View File

@ -20,7 +20,7 @@ bool Tracker::servo_test_set_servo(uint8_t servo_num, uint16_t pwm)
// ensure we are in servo test mode // ensure we are in servo test mode
if (control_mode != SERVO_TEST) { if (control_mode != SERVO_TEST) {
set_mode(SERVO_TEST); set_mode(SERVO_TEST, MODE_REASON_SERVOTEST);
} }
// set yaw servo pwm and send output to servo // set yaw servo pwm and send output to servo

7
AntennaTracker/defines.h
View File

@ -29,6 +29,13 @@ enum AltSource {
ALT_SOURCE_GPS_VEH_ONLY=2 ALT_SOURCE_GPS_VEH_ONLY=2
}; };
enum mode_reason_t {
MODE_REASON_INITIALISED = 0,
MODE_REASON_STARTUP,
MODE_REASON_SERVOTEST,
MODE_REASON_GCS_COMMAND,
};
// Filter // Filter
#define SERVO_OUT_FILT_HZ 0.1f #define SERVO_OUT_FILT_HZ 0.1f
#define G_Dt 0.02f #define G_Dt 0.02f

6
AntennaTracker/system.cpp
View File

@ -110,7 +110,7 @@ void Tracker::init_tracker()
gcs().send_text(MAV_SEVERITY_INFO,"Ready to track"); gcs().send_text(MAV_SEVERITY_INFO,"Ready to track");
hal.scheduler->delay(1000); // Why???? hal.scheduler->delay(1000); // Why????
set_mode(AUTO); // tracking set_mode(AUTO, MODE_REASON_STARTUP); // tracking
if (g.startup_delay > 0) { if (g.startup_delay > 0) {
// arm servos with trim value to allow them to start up (required // arm servos with trim value to allow them to start up (required
@ -211,7 +211,7 @@ void Tracker::prepare_servos()
SRV_Channels::output_ch_all(); SRV_Channels::output_ch_all();
} }
void Tracker::set_mode(enum ControlMode mode) void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
{ {
if (control_mode == mode) { if (control_mode == mode) {
// don't switch modes if we are already in the correct mode. // don't switch modes if we are already in the correct mode.
@ -234,7 +234,7 @@ void Tracker::set_mode(enum ControlMode mode)
} }
// log mode change // log mode change
DataFlash.Log_Write_Mode(control_mode); DataFlash.Log_Write_Mode(control_mode, reason);
} }
void Tracker::check_usb_mux(void) void Tracker::check_usb_mux(void)