#include "Copter.h" #define CONTROL_SWITCH_DEBOUNCE_TIME_MS 200 //Documentation of Aux Switch Flags: 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 } aux_con; void Copter::read_control_switch() { if (g.flight_mode_chan <= 0) { // no flight mode channel return; } uint32_t tnow_ms = millis(); // calculate position of flight mode switch int8_t switch_position; uint16_t mode_in = RC_Channels::rc_channel(g.flight_mode_chan-1)->get_radio_in(); if (mode_in < 1231) switch_position = 0; else if (mode_in < 1361) switch_position = 1; else if (mode_in < 1491) switch_position = 2; else if (mode_in < 1621) switch_position = 3; else if (mode_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 (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) { uint8_t auxsw_option_counts[AUXSW_SWITCH_MAX] = {}; auxsw_option_counts[g.ch7_option]++; auxsw_option_counts[g.ch8_option]++; auxsw_option_counts[g.ch9_option]++; auxsw_option_counts[g.ch10_option]++; auxsw_option_counts[g.ch11_option]++; auxsw_option_counts[g.ch12_option]++; for (uint8_t i=0; i 1) { return true; } } return false; } 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(uint8_t chan) { uint16_t radio_in = RC_Channels::rc_channel(chan)->get_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 } // can't take reference to a bitfield member, thus a #define: #define read_aux_switch(chan, flag, option) \ do { \ switch_position = read_3pos_switch(chan); \ if (debounce_aux_switch(chan, flag) && flag != switch_position) { \ flag = switch_position; \ do_aux_switch_function(option, flag); \ } \ } while (false) // 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; } read_aux_switch(CH_7, aux_con.CH7_flag, g.ch7_option); read_aux_switch(CH_8, aux_con.CH8_flag, g.ch8_option); read_aux_switch(CH_9, aux_con.CH9_flag, g.ch9_option); read_aux_switch(CH_10, aux_con.CH10_flag, g.ch10_option); read_aux_switch(CH_11, aux_con.CH11_flag, g.ch11_option); read_aux_switch(CH_12, aux_con.CH12_flag, g.ch12_option); } #undef read_aux_switch // 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(CH_7); aux_con.CH8_flag = read_3pos_switch(CH_8); aux_con.CH10_flag = read_3pos_switch(CH_10); aux_con.CH11_flag = read_3pos_switch(CH_11); // ch9, ch12 only supported on some boards aux_con.CH9_flag = read_3pos_switch(CH_9); aux_con.CH12_flag = read_3pos_switch(CH_12); // 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_RANGEFINDER: case AUXSW_FENCE: case AUXSW_SUPERSIMPLE_MODE: case AUXSW_ACRO_TRAINER: case AUXSW_GRIPPER: 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_MOTOR_ESTOP: case AUXSW_MOTOR_INTERLOCK: case AUXSW_AVOID_ADSB: case AUXSW_PRECISION_LOITER: case AUXSW_AVOID_PROXIMITY: case AUXSW_INVERTED: case AUXSW_WINCH_ENABLE: case AUXSW_RC_OVERRIDE_ENABLE: do_aux_switch_function(ch_option, ch_flag); break; } } /* debounce an aux switch using a counter in copter.debounce structure. This will return false until the same ch_flag is seen debounce_count times */ bool Copter::debounce_aux_switch(uint8_t chan, uint8_t ch_flag) { // a value of 2 means we need 3 values in a row with the same // value to activate const uint8_t debounce_count = 2; if (chan < CH_7 || chan > CH_12) { // someone has forgotten to expand the debounce channel range return false; } struct debounce &db = aux_debounce[chan-CH_7]; if (db.ch_flag != ch_flag) { db.ch_flag = ch_flag; db.count = 0; return false; } if (db.count < debounce_count) { db.count++; } return db.count >= debounce_count; } // 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 MODE_RTL_ENABLED == ENABLED 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(); } } #endif 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: #if MODE_AUTO_ENABLED == ENABLED // 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); } } #endif break; case AUXSW_MISSION_RESET: #if MODE_AUTO_ENABLED == ENABLED if (ch_flag == AUX_SWITCH_HIGH) { mission.reset(); } #endif break; case AUXSW_AUTO: #if MODE_AUTO_ENABLED == ENABLED 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(); } } #endif break; case AUXSW_CAMERA_TRIGGER: #if CAMERA == ENABLED if (ch_flag == AUX_SWITCH_HIGH) { camera.take_picture(); } #endif break; case AUXSW_RANGEFINDER: // enable or disable the rangefinder #if RANGEFINDER_ENABLED == ENABLED if ((ch_flag == AUX_SWITCH_HIGH) && rangefinder.has_orientation(ROTATION_PITCH_270)) { rangefinder_state.enabled = true; } else { rangefinder_state.enabled = false; } #endif break; case AUXSW_FENCE: #if AC_FENCE == ENABLED // 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); } #endif break; case AUXSW_ACRO_TRAINER: #if MODE_ACRO_ENABLED == ENABLED 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; } #endif break; case AUXSW_GRIPPER: #if GRIPPER_ENABLED == ENABLED switch(ch_flag) { case AUX_SWITCH_LOW: g2.gripper.release(); Log_Write_Event(DATA_GRIPPER_RELEASE); break; case AUX_SWITCH_HIGH: g2.gripper.grab(); Log_Write_Event(DATA_GRIPPER_GRAB); break; } #endif break; case AUXSW_SPRAYER: #if SPRAYER_ENABLED == ENABLED sprayer.run(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()); #endif break; case AUXSW_AUTOTUNE: #if AUTOTUNE_ENABLED == ENABLED // 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; } #endif break; 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; case AUXSW_PARACHUTE_ENABLE: #if PARACHUTE == ENABLED // Parachute enable/disable parachute.enabled(ch_flag == AUX_SWITCH_HIGH); #endif break; case AUXSW_PARACHUTE_RELEASE: #if PARACHUTE == ENABLED if (ch_flag == AUX_SWITCH_HIGH) { parachute_manual_release(); } #endif break; case AUXSW_PARACHUTE_3POS: #if PARACHUTE == ENABLED // 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; } #endif 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; case AUXSW_RETRACT_MOUNT: #if MOUNT == ENABLE 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; } #endif break; 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_position(AP_LandingGear::LandingGear_Deploy); break; case AUX_SWITCH_HIGH: landinggear.set_position(AP_LandingGear::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 ap.motor_interlock_switch = (ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE); break; case AUXSW_BRAKE: #if MODE_BRAKE_ENABLED == ENABLED // 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(); } } #endif break; case AUXSW_THROW: #if MODE_THROW_ENABLED == ENABLED // 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(); } } #endif break; case AUXSW_AVOID_ADSB: #if ADSB_ENABLED == ENABLED // enable or disable AP_Avoidance if (ch_flag == AUX_SWITCH_HIGH) { avoidance_adsb.enable(); Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE); } else { avoidance_adsb.disable(); Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE); } #endif break; case AUXSW_PRECISION_LOITER: #if PRECISION_LANDING == ENABLED && MODE_LOITER_ENABLED == ENABLED switch (ch_flag) { case AUX_SWITCH_HIGH: mode_loiter.set_precision_loiter_enabled(true); break; case AUX_SWITCH_LOW: mode_loiter.set_precision_loiter_enabled(false); break; } #endif break; case AUXSW_AVOID_PROXIMITY: #if PROXIMITY_ENABLED == ENABLED && AC_AVOID_ENABLED == ENABLED switch (ch_flag) { case AUX_SWITCH_HIGH: avoid.proximity_avoidance_enable(true); Log_Write_Event(DATA_AVOIDANCE_PROXIMITY_ENABLE); break; case AUX_SWITCH_LOW: avoid.proximity_avoidance_enable(false); Log_Write_Event(DATA_AVOIDANCE_PROXIMITY_DISABLE); break; } #endif break; case AUXSW_ARMDISARM: // arm or disarm the vehicle switch (ch_flag) { case AUX_SWITCH_HIGH: init_arm_motors(false); // remember that we are using an arming switch, for use by set_throttle_zero_flag ap.armed_with_switch = true; break; case AUX_SWITCH_LOW: init_disarm_motors(); break; } break; case AUXSW_SMART_RTL: #if MODE_SMARTRTL_ENABLED == ENABLED if (ch_flag == AUX_SWITCH_HIGH) { // engage SmartRTL (if not possible we remain in current flight mode) set_mode(SMART_RTL, MODE_REASON_TX_COMMAND); } else { // return to flight mode switch's flight mode if we are currently in RTL if (control_mode == SMART_RTL) { reset_control_switch(); } } #endif break; case AUXSW_INVERTED: #if FRAME_CONFIG == HELI_FRAME // inverted flight option is disabled for heli single and dual frames if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_QUAD) { switch (ch_flag) { case AUX_SWITCH_HIGH: motors->set_inverted_flight(true); attitude_control->set_inverted_flight(true); heli_flags.inverted_flight = true; break; case AUX_SWITCH_LOW: motors->set_inverted_flight(false); attitude_control->set_inverted_flight(false); heli_flags.inverted_flight = false; break; } } #endif break; case AUXSW_WINCH_ENABLE: #if WINCH_ENABLED == ENABLED switch (ch_flag) { case AUX_SWITCH_HIGH: // high switch maintains current position g2.winch.release_length(0.0f); Log_Write_Event(DATA_WINCH_LENGTH_CONTROL); break; default: // all other position relax winch g2.winch.relax(); Log_Write_Event(DATA_WINCH_RELAXED); break; } #endif break; case AUXSW_WINCH_CONTROL: #if WINCH_ENABLED == ENABLED switch (ch_flag) { case AUX_SWITCH_LOW: // raise winch at maximum speed g2.winch.set_desired_rate(-g2.winch.get_rate_max()); break; case AUX_SWITCH_HIGH: // lower winch at maximum speed g2.winch.set_desired_rate(g2.winch.get_rate_max()); break; case AUX_SWITCH_MIDDLE: default: g2.winch.set_desired_rate(0.0f); break; } #endif break; case AUXSW_RC_OVERRIDE_ENABLE: // Allow or disallow RC_Override switch (ch_flag) { case AUX_SWITCH_HIGH: { ap.rc_override_enable = true; break; } case AUX_SWITCH_LOW: { ap.rc_override_enable = false; break; } } break; #ifdef USERHOOK_AUXSWITCH case AUXSW_USER_FUNC1: userhook_auxSwitch1(ch_flag); break; case AUXSW_USER_FUNC2: userhook_auxSwitch2(ch_flag); break; case AUXSW_USER_FUNC3: userhook_auxSwitch3(ch_flag); break; #endif } } // 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; } } }