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AP_Relay: add rover motor reverse functions

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Iampete1 2023-12-09 19:12:10 +00:00 committed by Peter Barker
parent a0eb3396f8
commit f907694c6e
3 changed files with 55 additions and 11 deletions
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51
libraries/AP_Relay/AP_Relay.cpp
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@ -19,6 +19,11 @@
#include <AP_Parachute/AP_Parachute.h>
#include <AP_Camera/AP_Camera.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#if APM_BUILD_TYPE(APM_BUILD_Rover)
#include <AR_Motors/AP_MotorsUGV.h>
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define RELAY1_PIN_DEFAULT 13
@ -146,6 +151,14 @@ void AP_Relay::convert_params()
}
#endif
#if APM_BUILD_TYPE(APM_BUILD_Rover)
int8_t rover_relay[] = { -1, -1, -1, -1 };
AP_MotorsUGV *motors = AP::motors_ugv();
if (motors != nullptr) {
motors->get_legacy_relay_index(rover_relay[0], rover_relay[1], rover_relay[2], rover_relay[3]);
}
#endif
// Find old default param
int8_t default_state = 0; // off was the old behaviour
const bool have_default = AP_Param::get_param_by_index(this, 4, AP_PARAM_INT8, &default_state);
@ -165,29 +178,47 @@ void AP_Relay::convert_params()
int8_t pin = 0;
if (!_params[i].pin.configured() && AP_Param::get_param_by_index(this, param_index, AP_PARAM_INT8, &pin) && (pin >= 0)) {
// Copy old pin parameter
// Copy old pin parameter if valid
_params[i].pin.set_and_save(pin);
}
if (_params[i].pin < 0) {
// Don't enable if pin is invalid
continue;
}
// Valid pin, this is either due to the param conversion or default value
// Work out what function this relay should be
AP_Relay_Params::Function new_fun;
if (i == chute_relay) {
_params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::parachute));
new_fun = AP_Relay_Params::Function::parachute;
} else if (i == ice_relay) {
_params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::ignition));
new_fun = AP_Relay_Params::Function::ignition;
} else if (i == cam_relay) {
_params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::camera));
new_fun = AP_Relay_Params::Function::camera;
#if APM_BUILD_TYPE(APM_BUILD_Rover)
} else if (i == rover_relay[0]) {
new_fun = AP_Relay_Params::Function::brushed_reverse_1;
} else if (i == rover_relay[1]) {
new_fun = AP_Relay_Params::Function::brushed_reverse_2;
} else if (i == rover_relay[2]) {
new_fun = AP_Relay_Params::Function::brushed_reverse_3;
} else if (i == rover_relay[3]) {
new_fun = AP_Relay_Params::Function::brushed_reverse_4;
#endif
} else {
_params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::relay));
if (_params[i].pin < 0) {
// Don't enable as numbered relay if pin is invalid
// Other functions should be enabled with a invalid pin
// This will result in a pre-arm promoting the user to resolve
continue;
}
new_fun = AP_Relay_Params::Function::relay;
}
_params[i].function.set_and_save(int8_t(new_fun));
// Set the default state
if (have_default) {

11
libraries/AP_Relay/AP_Relay_Params.cpp
View File

@ -5,7 +5,16 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
// @Param: FUNCTION
// @DisplayName: Relay function
// @Description: The function the relay channel is mapped to.
// @Values: 0:None,1:Relay,2:Ignition,3:Parachute,4:Camera
// @Values: 0:None
// @Values: 1:Relay
// @Values{Plane}: 2:Ignition
// @Values{Plane, Copter}: 3:Parachute
// @Values: 4:Camera
// @Values{Rover}: 5:Bushed motor reverse 1 throttle or throttle-left or omni motor 1
// @Values{Rover}: 6:Bushed motor reverse 2 throttle-right or omni motor 2
// @Values{Rover}: 7:Bushed motor reverse 3 omni motor 3
// @Values{Rover}: 8:Bushed motor reverse 4 omni motor 4
// @User: Standard
AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)Function::none, AP_PARAM_FLAG_ENABLE),

4
libraries/AP_Relay/AP_Relay_Params.h
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@ -24,6 +24,10 @@ public:
ignition = 2,
parachute = 3,
camera = 4,
brushed_reverse_1 = 5,
brushed_reverse_2 = 6,
brushed_reverse_3 = 7,
brushed_reverse_4 = 8,
num_functions // must be the last entry
};