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Rover: added AP_Button support

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This commit is contained in:
Andrew Tridgell 2016-07-22 11:24:35 +10:00
parent cb5ca713a9
commit fd0f31dc44
5 changed files with 17 additions and 0 deletions
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1
APMrover2/APMrover2.cpp
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@ -79,6 +79,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(frsky_telemetry_send, 5, 100), SCHED_TASK(frsky_telemetry_send, 5, 100),
#endif #endif
SCHED_TASK(dataflash_periodic, 50, 300), SCHED_TASK(dataflash_periodic, 50, 300),
SCHED_TASK(button_update, 5, 100),
}; };
/* /*

4
APMrover2/Parameters.cpp
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@ -552,6 +552,10 @@ const AP_Param::Info Rover::var_info[] = {
// @Path: ../libraries/AP_Notify/AP_Notify.cpp // @Path: ../libraries/AP_Notify/AP_Notify.cpp
GOBJECT(notify, "NTF_", AP_Notify), GOBJECT(notify, "NTF_", AP_Notify),
// @Group: BTN_
// @Path: ../libraries/AP_Button/AP_Button.cpp
GOBJECT(button, "BTN_", AP_Button),
AP_VAREND AP_VAREND
}; };

1
APMrover2/Parameters.h
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@ -195,6 +195,7 @@ public:
k_param_steerController, k_param_steerController,
k_param_barometer, k_param_barometer,
k_param_notify, k_param_notify,
k_param_button,
k_param_DataFlash = 253, // Logging Group k_param_DataFlash = 253, // Logging Group

3
APMrover2/Rover.h
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@ -72,6 +72,7 @@
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library #include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#include <AP_RSSI/AP_RSSI.h> // RSSI Library #include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <AP_Button/AP_Button.h>
// Configuration // Configuration
#include "config.h" #include "config.h"
@ -134,6 +135,7 @@ private:
Compass compass; Compass compass;
AP_InertialSensor ins; AP_InertialSensor ins;
RangeFinder sonar { serial_manager }; RangeFinder sonar { serial_manager };
AP_Button button;
// flight modes convenience array // flight modes convenience array
AP_Int8 *modes; AP_Int8 *modes;
@ -454,6 +456,7 @@ private:
void reset_control_switch(); void reset_control_switch();
void read_trim_switch(); void read_trim_switch();
void update_events(void); void update_events(void);
void button_update(void);
void navigate(); void navigate();
void set_control_channels(void); void set_control_channels(void);
void init_rc_in(); void init_rc_in();

8
APMrover2/sensors.cpp
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@ -119,3 +119,11 @@ void Rover::read_sonars(void)
obstacle.turn_angle = 0; obstacle.turn_angle = 0;
} }
} }
/*
update AP_Button
*/
void Rover::button_update(void)
{
button.update();
}