mirror of https://github.com/ArduPilot/ardupilot
270 lines
7.4 KiB
C++
270 lines
7.4 KiB
C++
#include "Rover.h"
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#include "RC_Channel.h"
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// defining these two macros and including the RC_Channels_VarInfo
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// header defines the parameter information common to all vehicle
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// types
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#define RC_CHANNELS_SUBCLASS RC_Channels_Rover
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#define RC_CHANNEL_SUBCLASS RC_Channel_Rover
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#include <RC_Channel/RC_Channels_VarInfo.h>
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int8_t RC_Channels_Rover::flight_mode_channel_number() const
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{
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return rover.g.mode_channel;
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}
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void RC_Channel_Rover::mode_switch_changed(modeswitch_pos_t new_pos)
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{
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if (new_pos < 0 || (uint8_t)new_pos > rover.num_modes) {
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// should not have been called
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return;
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}
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rover.set_mode((Mode::Number)rover.modes[new_pos].get(), ModeReason::RC_COMMAND);
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}
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// init_aux_switch_function - initialize aux functions
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void RC_Channel_Rover::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 initialising:
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case AUX_FUNC::ACRO:
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case AUX_FUNC::AUTO:
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case AUX_FUNC::CIRCLE:
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case AUX_FUNC::FOLLOW:
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case AUX_FUNC::GUIDED:
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case AUX_FUNC::HOLD:
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case AUX_FUNC::LEARN_CRUISE:
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case AUX_FUNC::LOITER:
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case AUX_FUNC::MAINSAIL:
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case AUX_FUNC::MANUAL:
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case AUX_FUNC::PITCH:
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case AUX_FUNC::ROLL:
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case AUX_FUNC::WALKING_HEIGHT:
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case AUX_FUNC::RTL:
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case AUX_FUNC::SAILBOAT_TACK:
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case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
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case AUX_FUNC::SAVE_WP:
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case AUX_FUNC::SIMPLE:
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case AUX_FUNC::SMART_RTL:
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case AUX_FUNC::STEERING:
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case AUX_FUNC::WIND_VANE_DIR_OFSSET:
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break;
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case AUX_FUNC::SAILBOAT_MOTOR_3POS:
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do_aux_function_sailboat_motor_3pos(ch_flag);
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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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bool RC_Channels_Rover::in_rc_failsafe() const
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{
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return rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE;
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}
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bool RC_Channels_Rover::has_valid_input() const
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{
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if (in_rc_failsafe()) {
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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_Rover::get_arming_channel(void) const
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{
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return rover.channel_steer;
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}
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void RC_Channel_Rover::do_aux_function_change_mode(Mode &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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rover.set_mode(mode, ModeReason::RC_COMMAND);
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break;
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case AuxSwitchPos::MIDDLE:
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// do nothing
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break;
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case AuxSwitchPos::LOW:
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if (rover.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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void RC_Channel_Rover::add_waypoint_for_current_loc()
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{
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// create new mission command
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AP_Mission::Mission_Command cmd = {};
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// set new waypoint to current location
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cmd.content.location = rover.current_loc;
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// make the new command to a waypoint
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cmd.id = MAV_CMD_NAV_WAYPOINT;
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// save command
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if (rover.mode_auto.mission.add_cmd(cmd)) {
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hal.console->printf("Added waypoint %u", (unsigned)rover.mode_auto.mission.num_commands());
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}
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}
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void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(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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rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_ALWAYS);
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break;
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case AuxSwitchPos::MIDDLE:
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rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_ASSIST);
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break;
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case AuxSwitchPos::LOW:
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rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_NEVER);
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break;
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}
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}
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bool RC_Channel_Rover::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
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{
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switch (ch_option) {
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case AUX_FUNC::DO_NOTHING:
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break;
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case AUX_FUNC::SAVE_WP:
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if (ch_flag == AuxSwitchPos::HIGH) {
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// do nothing if in AUTO mode
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if (rover.control_mode == &rover.mode_auto) {
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break;
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}
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// if disarmed clear mission and set home to current location
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if (!rover.arming.is_armed()) {
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rover.mode_auto.mission.clear();
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gcs().send_text(MAV_SEVERITY_NOTICE, "SaveWP: Mission cleared!");
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if (!rover.set_home_to_current_location(false)) {
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// ignored
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}
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break;
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}
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// record the waypoint if not in auto mode
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if (rover.control_mode != &rover.mode_auto) {
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if (rover.mode_auto.mission.num_commands() == 0) {
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// add a home location....
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add_waypoint_for_current_loc();
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}
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add_waypoint_for_current_loc();
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}
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}
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break;
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// learn cruise speed and throttle
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case AUX_FUNC::LEARN_CRUISE:
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if (ch_flag == AuxSwitchPos::HIGH) {
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rover.cruise_learn_start();
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}
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break;
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// set mode to Manual
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case AUX_FUNC::MANUAL:
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do_aux_function_change_mode(rover.mode_manual, ch_flag);
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break;
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// set mode to Acro
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case AUX_FUNC::ACRO:
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do_aux_function_change_mode(rover.mode_acro, ch_flag);
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break;
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// set mode to Steering
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case AUX_FUNC::STEERING:
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do_aux_function_change_mode(rover.mode_steering, ch_flag);
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break;
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// set mode to Hold
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case AUX_FUNC::HOLD:
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do_aux_function_change_mode(rover.mode_hold, ch_flag);
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break;
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// set mode to Auto
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case AUX_FUNC::AUTO:
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do_aux_function_change_mode(rover.mode_auto, ch_flag);
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break;
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// set mode to RTL
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case AUX_FUNC::RTL:
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do_aux_function_change_mode(rover.mode_rtl, ch_flag);
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break;
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// set mode to SmartRTL
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case AUX_FUNC::SMART_RTL:
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do_aux_function_change_mode(rover.mode_smartrtl, ch_flag);
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break;
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// set mode to Guided
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case AUX_FUNC::GUIDED:
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do_aux_function_change_mode(rover.mode_guided, ch_flag);
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break;
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// Set mode to LOITER
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case AUX_FUNC::LOITER:
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do_aux_function_change_mode(rover.mode_loiter, ch_flag);
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break;
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#if MODE_FOLLOW_ENABLED == ENABLED
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// Set mode to Follow
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case AUX_FUNC::FOLLOW:
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do_aux_function_change_mode(rover.mode_follow, ch_flag);
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break;
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#endif
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// set mode to Simple
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case AUX_FUNC::SIMPLE:
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do_aux_function_change_mode(rover.mode_simple, ch_flag);
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break;
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case AUX_FUNC::CIRCLE:
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do_aux_function_change_mode(rover.g2.mode_circle, ch_flag);
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break;
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// trigger sailboat tack
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case AUX_FUNC::SAILBOAT_TACK:
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// any switch movement interpreted as request to tack
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rover.control_mode->handle_tack_request();
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break;
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// sailboat motor state 3pos
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case AUX_FUNC::SAILBOAT_MOTOR_3POS:
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do_aux_function_sailboat_motor_3pos(ch_flag);
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break;
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// save steering trim
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case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
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if (!rover.g2.motors.have_skid_steering() && rover.arming.is_armed() &&
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(rover.control_mode != &rover.mode_loiter)
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&& (rover.control_mode != &rover.mode_hold) && ch_flag == AuxSwitchPos::HIGH) {
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_steering);
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gcs().send_text(MAV_SEVERITY_CRITICAL, "Steering trim saved!");
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}
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break;
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// manual input, nothing to do
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case AUX_FUNC::MAINSAIL:
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case AUX_FUNC::PITCH:
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case AUX_FUNC::ROLL:
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case AUX_FUNC::WALKING_HEIGHT:
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case AUX_FUNC::WIND_VANE_DIR_OFSSET:
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break;
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default:
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return RC_Channel::do_aux_function(ch_option, ch_flag);
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}
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return true;
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}
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