mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-28 18:53:57 -04:00
b931baa8fd
This was definitely not working (no caller to auto_trim()), and has probably subtly broken in several other ways since it has not been autotested. If this feature is wanted in the future then factoring Copter's support up into RC_Channel (and possible AP_Vehicle) is probably the way to do this. we're moving towards using an RC aux switch for this functionality. Blimp doesn't currently have suport for this functionality (lacking a call
122 lines
3.2 KiB
C++
122 lines
3.2 KiB
C++
#include "Blimp.h"
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#include "RC_Channel_Blimp.h"
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// defining these two macros and including the RC_Channels_VarInfo header defines the parameter information common to all vehicle types
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#define RC_CHANNELS_SUBCLASS RC_Channels_Blimp
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#define RC_CHANNEL_SUBCLASS RC_Channel_Blimp
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#include <RC_Channel/RC_Channels_VarInfo.h>
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int8_t RC_Channels_Blimp::flight_mode_channel_number() const
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{
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return blimp.g.flight_mode_chan.get();
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}
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void RC_Channel_Blimp::mode_switch_changed(modeswitch_pos_t new_pos)
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{
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if (new_pos < 0 || (uint8_t)new_pos > blimp.num_flight_modes) {
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// should not have been called
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return;
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}
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if (!blimp.set_mode((Mode::Number)blimp.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {
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// alert user to mode change failure
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if (blimp.ap.initialised) {
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AP_Notify::events.user_mode_change_failed = 1;
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}
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return;
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}
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// play a tone
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// alert user to mode change (except if autopilot is just starting up)
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if (blimp.ap.initialised) {
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AP_Notify::events.user_mode_change = 1;
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}
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}
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bool RC_Channels_Blimp::in_rc_failsafe() const
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{
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return blimp.failsafe.radio;
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}
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bool RC_Channels_Blimp::has_valid_input() const
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{
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if (blimp.failsafe.radio) {
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return false;
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}
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if (blimp.failsafe.radio_counter != 0) {
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return false;
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}
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return true;
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}
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RC_Channel * RC_Channels_Blimp::get_arming_channel(void) const
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{
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return blimp.channel_yaw;
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}
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// init_aux_switch_function - initialize aux functions
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void RC_Channel_Blimp::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
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{
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// init channel options
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switch (ch_option) {
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// the following functions do not need to be initialised:
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case AUX_FUNC::MANUAL:
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break;
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default:
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RC_Channel::init_aux_function(ch_option, ch_flag);
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break;
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}
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}
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// do_aux_function_change_mode - change mode based on an aux switch
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// being moved
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void RC_Channel_Blimp::do_aux_function_change_mode(const Mode::Number mode,
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const AuxSwitchPos ch_flag)
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{
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switch (ch_flag) {
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case AuxSwitchPos::HIGH: {
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// engage mode (if not possible we remain in current flight mode)
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const bool success = blimp.set_mode(mode, ModeReason::AUX_FUNCTION);
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if (blimp.ap.initialised) {
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if (success) {
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AP_Notify::events.user_mode_change = 1;
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} else {
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AP_Notify::events.user_mode_change_failed = 1;
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}
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}
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break;
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}
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default:
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// return to flight mode switch's flight mode if we are currently
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// in this mode
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if (blimp.control_mode == mode) {
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rc().reset_mode_switch();
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}
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}
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}
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// do_aux_function - implement the function invoked by auxiliary switches
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bool RC_Channel_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
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{
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const AUX_FUNC &ch_option = trigger.func;
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const AuxSwitchPos &ch_flag = trigger.pos;
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switch (ch_option) {
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case AUX_FUNC::LOITER:
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do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
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break;
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case AUX_FUNC::MANUAL:
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do_aux_function_change_mode(Mode::Number::MANUAL, ch_flag);
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break;
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default:
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return RC_Channel::do_aux_function(trigger);
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}
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return true;
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}
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