ardupilot/APMrover2/control_modes.cpp

174 lines
5.0 KiB
C++

#include "Rover.h"
static const int16_t CH_7_PWM_TRIGGER = 1800;
Mode *Rover::control_mode_from_num(const enum mode num)
{
Mode *ret = nullptr;
switch (num) {
case MANUAL:
ret = &mode_manual;
break;
case LEARNING:
ret = &mode_learning;
break;
case STEERING:
ret = &mode_steering;
break;
case HOLD:
ret = &mode_hold;
break;
case AUTO:
ret = &mode_auto;
break;
case RTL:
ret = &mode_rtl;
break;
case GUIDED:
ret = &mode_guided;
break;
case INITIALISING:
ret = &mode_initializing;
break;
default:
break;
}
return ret;
}
void Rover::read_control_switch()
{
static bool switch_debouncer;
const uint8_t switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if (switchPosition == 255) {
return;
}
if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 100) {
// only use signals that are less than 0.1s old.
return;
}
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
// used to force re-reading of the control switch. This is useful
// when returning to the previous mode after a failsafe or fence
// breach. This channel is best used on a momentary switch (such
// as a spring loaded trainer switch).
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
if (switch_debouncer == false) {
// this ensures that mode switches only happen if the
// switch changes for 2 reads. This prevents momentary
// spikes in the mode control channel from causing a mode
// switch
switch_debouncer = true;
return;
}
Mode *new_mode = control_mode_from_num((enum mode)modes[switchPosition].get());
if (new_mode != nullptr) {
set_mode(*new_mode, MODE_REASON_TX_COMMAND);
}
oldSwitchPosition = switchPosition;
}
switch_debouncer = false;
}
uint8_t Rover::readSwitch(void) {
const uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1);
if (pulsewidth <= 900 || pulsewidth >= 2200) {
return 255; // This is an error condition
}
if (pulsewidth <= 1230) {
return 0;
}
if (pulsewidth <= 1360) {
return 1;
}
if (pulsewidth <= 1490) {
return 2;
}
if (pulsewidth <= 1620) {
return 3;
}
if (pulsewidth <= 1749) {
return 4; // Software Manual
}
return 5; // Hardware Manual
}
void Rover::reset_control_switch()
{
oldSwitchPosition = 254;
read_control_switch();
}
// read at 10 hz
// set this to your trainer switch
void Rover::read_trim_switch()
{
switch ((enum ch7_option)g.ch7_option.get()) {
case CH7_DO_NOTHING:
break;
case CH7_SAVE_WP:
if (channel_learn->get_radio_in() > CH_7_PWM_TRIGGER) {
// switch is engaged
ch7_flag = true;
} else { // switch is disengaged
if (ch7_flag) {
ch7_flag = false;
if (control_mode == &mode_manual) {
hal.console->printf("Erasing waypoints\n");
// if SW7 is ON in MANUAL = Erase the Flight Plan
mission.clear();
if (channel_steer->get_control_in() > 3000) {
// if roll is full right store the current location as home
set_home_to_current_location(false);
}
} else if (control_mode == &mode_learning || control_mode == &mode_steering) {
// if SW7 is ON in LEARNING = record the Wp
// create new mission command
AP_Mission::Mission_Command cmd = {};
// set new waypoint to current location
cmd.content.location = current_loc;
// make the new command to a waypoint
cmd.id = MAV_CMD_NAV_WAYPOINT;
// save command
if (mission.add_cmd(cmd)) {
hal.console->printf("Learning waypoint %u", static_cast<uint32_t>(mission.num_commands()));
}
} else if (control_mode == &mode_auto) {
// if SW7 is ON in AUTO = set to RTL
set_mode(mode_rtl, MODE_REASON_TX_COMMAND);
break;
}
}
}
break;
}
}
bool Rover::motor_active()
{
// Check if armed and output throttle servo is not neutral
if (hal.util->get_soft_armed()) {
if (!is_zero(g2.motors.get_throttle())) {
return true;
}
}
return false;
}