/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
#define CONTROL_SWITCH_DEBOUNCE_TIME_MS 200
//Documentation of Aux Switch Flags:
static union {
struct {
uint8_t CH6_flag : 2; // 0, 1 // ch6 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH7_flag : 2; // 2, 3 // ch7 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH8_flag : 2; // 4, 5 // ch8 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH9_flag : 2; // 6, 7 // ch9 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH10_flag : 2; // 8, 9 // ch10 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH11_flag : 2; // 10,11 // ch11 aux switch : 0 is low or false, 1 is center or true, 2 is high
uint8_t CH12_flag : 2; // 12,13 // ch12 aux switch : 0 is low or false, 1 is center or true, 2 is high
};
uint32_t value;
} aux_con;
void Copter::read_control_switch()
{
uint32_t tnow_ms = millis();
// calculate position of flight mode switch
int8_t switch_position;
if (g.rc_5.get_radio_in() < 1231) switch_position = 0;
else if (g.rc_5.get_radio_in() < 1361) switch_position = 1;
else if (g.rc_5.get_radio_in() < 1491) switch_position = 2;
else if (g.rc_5.get_radio_in() < 1621) switch_position = 3;
else if (g.rc_5.get_radio_in() < 1750) switch_position = 4;
else switch_position = 5;
// store time that switch last moved
if(control_switch_state.last_switch_position != switch_position) {
control_switch_state.last_edge_time_ms = tnow_ms;
}
// debounce switch
bool control_switch_changed = control_switch_state.debounced_switch_position != switch_position;
bool sufficient_time_elapsed = tnow_ms - control_switch_state.last_edge_time_ms > CONTROL_SWITCH_DEBOUNCE_TIME_MS;
bool failsafe_disengaged = !failsafe.radio && failsafe.radio_counter == 0;
if (control_switch_changed && sufficient_time_elapsed && failsafe_disengaged) {
// set flight mode and simple mode setting
if (set_mode((control_mode_t)flight_modes[switch_position].get(), MODE_REASON_TX_COMMAND)) {
// play a tone
if (control_switch_state.debounced_switch_position != -1) {
// alert user to mode change failure (except if autopilot is just starting up)
if (ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
}
if(!check_if_auxsw_mode_used(AUXSW_SIMPLE_MODE) && !check_if_auxsw_mode_used(AUXSW_SUPERSIMPLE_MODE)) {
// if none of the Aux Switches are set to Simple or Super Simple Mode then
// set Simple Mode using stored parameters from EEPROM
if (BIT_IS_SET(g.super_simple, switch_position)) {
set_simple_mode(2);
}else{
set_simple_mode(BIT_IS_SET(g.simple_modes, switch_position));
}
}
} else if (control_switch_state.last_switch_position != -1) {
// alert user to mode change failure
AP_Notify::events.user_mode_change_failed = 1;
}
// set the debounced switch position
control_switch_state.debounced_switch_position = switch_position;
}
control_switch_state.last_switch_position = switch_position;
}
// check_if_auxsw_mode_used - Check to see if any of the Aux Switches are set to a given mode.
bool Copter::check_if_auxsw_mode_used(uint8_t auxsw_mode_check)
{
bool ret = g.ch7_option == auxsw_mode_check || g.ch8_option == auxsw_mode_check || g.ch9_option == auxsw_mode_check
|| g.ch10_option == auxsw_mode_check || g.ch11_option == auxsw_mode_check || g.ch12_option == auxsw_mode_check;
return ret;
}
// check_duplicate_auxsw - Check to see if any Aux Switch Functions are duplicated
bool Copter::check_duplicate_auxsw(void)
{
bool ret = ((g.ch7_option != AUXSW_DO_NOTHING) && (g.ch7_option == g.ch8_option ||
g.ch7_option == g.ch9_option || g.ch7_option == g.ch10_option ||
g.ch7_option == g.ch11_option || g.ch7_option == g.ch12_option));
ret = ret || ((g.ch8_option != AUXSW_DO_NOTHING) && (g.ch8_option == g.ch9_option ||
g.ch8_option == g.ch10_option || g.ch8_option == g.ch11_option ||
g.ch8_option == g.ch12_option));
ret = ret || ((g.ch9_option != AUXSW_DO_NOTHING) && (g.ch9_option == g.ch10_option ||
g.ch9_option == g.ch11_option || g.ch9_option == g.ch12_option));
ret = ret || ((g.ch10_option != AUXSW_DO_NOTHING) && (g.ch10_option == g.ch11_option ||
g.ch10_option == g.ch12_option));
ret = ret || ((g.ch11_option != AUXSW_DO_NOTHING) && (g.ch11_option == g.ch12_option));
return ret;
}
void Copter::reset_control_switch()
{
control_switch_state.last_switch_position = control_switch_state.debounced_switch_position = -1;
read_control_switch();
}
// read_3pos_switch
uint8_t Copter::read_3pos_switch(int16_t radio_in)
{
if (radio_in < AUX_SWITCH_PWM_TRIGGER_LOW) return AUX_SWITCH_LOW; // switch is in low position
if (radio_in > AUX_SWITCH_PWM_TRIGGER_HIGH) return AUX_SWITCH_HIGH; // switch is in high position
return AUX_SWITCH_MIDDLE; // switch is in middle position
}
// read_aux_switches - checks aux switch positions and invokes configured actions
void Copter::read_aux_switches()
{
uint8_t switch_position;
// exit immediately during radio failsafe
if (failsafe.radio || failsafe.radio_counter != 0) {
return;
}
// check if ch7 switch has changed position
switch_position = read_3pos_switch(g.rc_7.get_radio_in());
if (aux_con.CH7_flag != switch_position) {
// set the CH7 flag
aux_con.CH7_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch7_option, aux_con.CH7_flag);
}
// check if Ch8 switch has changed position
switch_position = read_3pos_switch(g.rc_8.get_radio_in());
if (aux_con.CH8_flag != switch_position) {
// set the CH8 flag
aux_con.CH8_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch8_option, aux_con.CH8_flag);
}
// check if Ch9 switch has changed position
switch_position = read_3pos_switch(g.rc_9.get_radio_in());
if (aux_con.CH9_flag != switch_position) {
// set the CH9 flag
aux_con.CH9_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch9_option, aux_con.CH9_flag);
}
// check if Ch10 switch has changed position
switch_position = read_3pos_switch(g.rc_10.get_radio_in());
if (aux_con.CH10_flag != switch_position) {
// set the CH10 flag
aux_con.CH10_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch10_option, aux_con.CH10_flag);
}
// check if Ch11 switch has changed position
switch_position = read_3pos_switch(g.rc_11.get_radio_in());
if (aux_con.CH11_flag != switch_position) {
// set the CH11 flag
aux_con.CH11_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch11_option, aux_con.CH11_flag);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// check if Ch12 switch has changed position
switch_position = read_3pos_switch(g.rc_12.get_radio_in());
if (aux_con.CH12_flag != switch_position) {
// set the CH12 flag
aux_con.CH12_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch12_option, aux_con.CH12_flag);
}
#endif
}
// init_aux_switches - invoke configured actions at start-up for aux function where it is safe to do so
void Copter::init_aux_switches()
{
// set the CH7 ~ CH12 flags
aux_con.CH7_flag = read_3pos_switch(g.rc_7.get_radio_in());
aux_con.CH8_flag = read_3pos_switch(g.rc_8.get_radio_in());
aux_con.CH10_flag = read_3pos_switch(g.rc_10.get_radio_in());
aux_con.CH11_flag = read_3pos_switch(g.rc_11.get_radio_in());
// ch9, ch12 only supported on some boards
aux_con.CH9_flag = read_3pos_switch(g.rc_9.get_radio_in());
aux_con.CH12_flag = read_3pos_switch(g.rc_12.get_radio_in());
// initialise functions assigned to switches
init_aux_switch_function(g.ch7_option, aux_con.CH7_flag);
init_aux_switch_function(g.ch8_option, aux_con.CH8_flag);
init_aux_switch_function(g.ch10_option, aux_con.CH10_flag);
init_aux_switch_function(g.ch11_option, aux_con.CH11_flag);
// ch9, ch12 only supported on some boards
init_aux_switch_function(g.ch9_option, aux_con.CH9_flag);
init_aux_switch_function(g.ch12_option, aux_con.CH12_flag);
}
// init_aux_switch_function - initialize aux functions
void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
{
// init channel options
switch(ch_option) {
case AUXSW_SIMPLE_MODE:
case AUXSW_SONAR:
case AUXSW_FENCE:
case AUXSW_RESETTOARMEDYAW:
case AUXSW_SUPERSIMPLE_MODE:
case AUXSW_ACRO_TRAINER:
case AUXSW_EPM:
case AUXSW_SPRAYER:
case AUXSW_PARACHUTE_ENABLE:
case AUXSW_PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUXSW_RETRACT_MOUNT:
case AUXSW_MISSION_RESET:
case AUXSW_ATTCON_FEEDFWD:
case AUXSW_ATTCON_ACCEL_LIM:
case AUXSW_LANDING_GEAR:
case AUXSW_MOTOR_ESTOP:
case AUXSW_MOTOR_INTERLOCK:
do_aux_switch_function(ch_option, ch_flag);
break;
}
}
// do_aux_switch_function - implement the function invoked by the ch7 or ch8 switch
void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
{
switch(ch_function) {
case AUXSW_FLIP:
// flip if switch is on, positive throttle and we're actually flying
if(ch_flag == AUX_SWITCH_HIGH) {
set_mode(FLIP, MODE_REASON_TX_COMMAND);
}
break;
case AUXSW_SIMPLE_MODE:
// low = simple mode off, middle or high position turns simple mode on
set_simple_mode(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
break;
case AUXSW_SUPERSIMPLE_MODE:
// low = simple mode off, middle = simple mode, high = super simple mode
set_simple_mode(ch_flag);
break;
case AUXSW_RTL:
if (ch_flag == AUX_SWITCH_HIGH) {
// engage RTL (if not possible we remain in current flight mode)
set_mode(RTL, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in RTL
if (control_mode == RTL) {
reset_control_switch();
}
}
break;
case AUXSW_SAVE_TRIM:
if ((ch_flag == AUX_SWITCH_HIGH) && (control_mode <= ACRO) && (channel_throttle->get_control_in() == 0)) {
save_trim();
}
break;
case AUXSW_SAVE_WP:
// save waypoint when switch is brought high
if (ch_flag == AUX_SWITCH_HIGH) {
// do not allow saving new waypoints while we're in auto or disarmed
if(control_mode == AUTO || !motors.armed()) {
return;
}
// do not allow saving the first waypoint with zero throttle
if((mission.num_commands() == 0) && (channel_throttle->get_control_in() == 0)){
return;
}
// create new mission command
AP_Mission::Mission_Command cmd = {};
// if the mission is empty save a takeoff command
if(mission.num_commands() == 0) {
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
cmd.id = MAV_CMD_NAV_TAKEOFF;
cmd.content.location.options = 0;
cmd.p1 = 0;
cmd.content.location.lat = 0;
cmd.content.location.lng = 0;
cmd.content.location.alt = MAX(current_loc.alt,100);
// use the current altitude for the target alt for takeoff.
// only altitude will matter to the AP mission script for takeoff.
if(mission.add_cmd(cmd)) {
// log event
Log_Write_Event(DATA_SAVEWP_ADD_WP);
}
}
// set new waypoint to current location
cmd.content.location = current_loc;
// if throttle is above zero, create waypoint command
if(channel_throttle->get_control_in() > 0) {
cmd.id = MAV_CMD_NAV_WAYPOINT;
}else{
// with zero throttle, create LAND command
cmd.id = MAV_CMD_NAV_LAND;
}
// save command
if(mission.add_cmd(cmd)) {
// log event
Log_Write_Event(DATA_SAVEWP_ADD_WP);
}
}
break;
#if CAMERA == ENABLED
case AUXSW_CAMERA_TRIGGER:
if (ch_flag == AUX_SWITCH_HIGH) {
do_take_picture();
}
break;
#endif
case AUXSW_SONAR:
// enable or disable the sonar
#if CONFIG_SONAR == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
sonar_enabled = true;
}else{
sonar_enabled = false;
}
#endif
break;
#if AC_FENCE == ENABLED
case AUXSW_FENCE:
// enable or disable the fence
if (ch_flag == AUX_SWITCH_HIGH) {
fence.enable(true);
Log_Write_Event(DATA_FENCE_ENABLE);
}else{
fence.enable(false);
Log_Write_Event(DATA_FENCE_DISABLE);
}
break;
#endif
// To-Do: add back support for this feature
//case AUXSW_RESETTOARMEDYAW:
// if (ch_flag == AUX_SWITCH_HIGH) {
// set_yaw_mode(YAW_RESETTOARMEDYAW);
// }else{
// set_yaw_mode(YAW_HOLD);
// }
// break;
case AUXSW_ACRO_TRAINER:
switch(ch_flag) {
case AUX_SWITCH_LOW:
g.acro_trainer = ACRO_TRAINER_DISABLED;
Log_Write_Event(DATA_ACRO_TRAINER_DISABLED);
break;
case AUX_SWITCH_MIDDLE:
g.acro_trainer = ACRO_TRAINER_LEVELING;
Log_Write_Event(DATA_ACRO_TRAINER_LEVELING);
break;
case AUX_SWITCH_HIGH:
g.acro_trainer = ACRO_TRAINER_LIMITED;
Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
break;
}
break;
#if EPM_ENABLED == ENABLED
case AUXSW_EPM:
switch(ch_flag) {
case AUX_SWITCH_LOW:
epm.release();
Log_Write_Event(DATA_EPM_RELEASE);
break;
case AUX_SWITCH_HIGH:
epm.grab();
Log_Write_Event(DATA_EPM_GRAB);
break;
}
break;
#endif
#if SPRAYER == ENABLED
case AUXSW_SPRAYER:
sprayer.enable(ch_flag == AUX_SWITCH_HIGH);
// if we are disarmed the pilot must want to test the pump
sprayer.test_pump((ch_flag == AUX_SWITCH_HIGH) && !motors.armed());
break;
#endif
case AUXSW_AUTO:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(AUTO, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in AUTO
if (control_mode == AUTO) {
reset_control_switch();
}
}
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUXSW_AUTOTUNE:
// turn on auto tuner
switch(ch_flag) {
case AUX_SWITCH_LOW:
case AUX_SWITCH_MIDDLE:
// restore flight mode based on flight mode switch position
if (control_mode == AUTOTUNE) {
reset_control_switch();
}
break;
case AUX_SWITCH_HIGH:
// start an autotuning session
set_mode(AUTOTUNE, MODE_REASON_TX_COMMAND);
break;
}
break;
#endif
case AUXSW_LAND:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(LAND, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in LAND
if (control_mode == LAND) {
reset_control_switch();
}
}
break;
#if PARACHUTE == ENABLED
case AUXSW_PARACHUTE_ENABLE:
// Parachute enable/disable
parachute.enabled(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_PARACHUTE_RELEASE:
if (ch_flag == AUX_SWITCH_HIGH) {
parachute_manual_release();
}
break;
case AUXSW_PARACHUTE_3POS:
// Parachute disable, enable, release with 3 position switch
switch (ch_flag) {
case AUX_SWITCH_LOW:
parachute.enabled(false);
Log_Write_Event(DATA_PARACHUTE_DISABLED);
break;
case AUX_SWITCH_MIDDLE:
parachute.enabled(true);
Log_Write_Event(DATA_PARACHUTE_ENABLED);
break;
case AUX_SWITCH_HIGH:
parachute.enabled(true);
parachute_manual_release();
break;
}
break;
#endif
case AUXSW_MISSION_RESET:
if (ch_flag == AUX_SWITCH_HIGH) {
mission.reset();
}
break;
case AUXSW_ATTCON_FEEDFWD:
// enable or disable feed forward
attitude_control.bf_feedforward(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_ATTCON_ACCEL_LIM:
// enable or disable accel limiting by restoring defaults
attitude_control.accel_limiting(ch_flag == AUX_SWITCH_HIGH);
break;
#if MOUNT == ENABLE
case AUXSW_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
case AUXSW_RELAY:
ServoRelayEvents.do_set_relay(0, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_RELAY2:
ServoRelayEvents.do_set_relay(1, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_RELAY3:
ServoRelayEvents.do_set_relay(2, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_RELAY4:
ServoRelayEvents.do_set_relay(3, ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_LANDING_GEAR:
switch (ch_flag) {
case AUX_SWITCH_LOW:
landinggear.set_cmd_mode(LandingGear_Deploy);
break;
case AUX_SWITCH_MIDDLE:
landinggear.set_cmd_mode(LandingGear_Auto);
break;
case AUX_SWITCH_HIGH:
landinggear.set_cmd_mode(LandingGear_Retract);
break;
}
break;
case AUXSW_LOST_COPTER_SOUND:
switch (ch_flag) {
case AUX_SWITCH_HIGH:
AP_Notify::flags.vehicle_lost = true;
break;
case AUX_SWITCH_LOW:
AP_Notify::flags.vehicle_lost = false;
break;
}
break;
case AUXSW_MOTOR_ESTOP:
// Turn on Emergency Stop logic when channel is high
set_motor_emergency_stop(ch_flag == AUX_SWITCH_HIGH);
break;
case AUXSW_MOTOR_INTERLOCK:
// Turn on when above LOW, because channel will also be used for speed
// control signal in tradheli
motors.set_interlock(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
// remember the current value of the motor interlock so that this condition can be restored if we exit the throw mode early
throw_early_exit_interlock = motors.get_interlock();
// Log new status
if (motors.get_interlock()){
Log_Write_Event(DATA_MOTORS_INTERLOCK_ENABLED);
} else {
Log_Write_Event(DATA_MOTORS_INTERLOCK_DISABLED);
}
break;
case AUXSW_BRAKE:
// brake flight mode
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(BRAKE, MODE_REASON_TX_COMMAND);
}else{
// return to flight mode switch's flight mode if we are currently in BRAKE
if (control_mode == BRAKE) {
reset_control_switch();
}
}
break;
case AUXSW_THROW:
// throw flight mode
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(THROW, MODE_REASON_TX_COMMAND);
} else {
// return to flight mode switch's flight mode if we are currently in throw mode
if (control_mode == THROW) {
reset_control_switch();
}
}
break;
}
}
// save_trim - adds roll and pitch trims from the radio to ahrs
void Copter::save_trim()
{
// save roll and pitch trim
float roll_trim = ToRad((float)channel_roll->get_control_in()/100.0f);
float pitch_trim = ToRad((float)channel_pitch->get_control_in()/100.0f);
ahrs.add_trim(roll_trim, pitch_trim);
Log_Write_Event(DATA_SAVE_TRIM);
gcs_send_text(MAV_SEVERITY_INFO, "Trim saved");
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
// meant to be called continuously while the pilot attempts to keep the copter level
void Copter::auto_trim()
{
if(auto_trim_counter > 0) {
auto_trim_counter--;
// flash the leds
AP_Notify::flags.save_trim = true;
// calculate roll trim adjustment
float roll_trim_adjustment = ToRad((float)channel_roll->get_control_in() / 4000.0f);
// calculate pitch trim adjustment
float pitch_trim_adjustment = ToRad((float)channel_pitch->get_control_in() / 4000.0f);
// add trim to ahrs object
// save to eeprom on last iteration
ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
// on last iteration restore leds and accel gains to normal
if(auto_trim_counter == 0) {
AP_Notify::flags.save_trim = false;
}
}
}