mirror of https://github.com/ArduPilot/ardupilot
610 lines
20 KiB
C++
610 lines
20 KiB
C++
#include "Copter.h"
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#include "RC_Channel.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_Copter
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#define RC_CHANNEL_SUBCLASS RC_Channel_Copter
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#include <RC_Channel/RC_Channels_VarInfo.h>
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int8_t RC_Channels_Copter::flight_mode_channel_number() const
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{
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return copter.g.flight_mode_chan.get();
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}
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void RC_Channel_Copter::mode_switch_changed(modeswitch_pos_t new_pos)
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{
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if (new_pos < 0 || (uint8_t)new_pos > copter.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 (!copter.set_mode((control_mode_t)copter.flight_modes[new_pos].get(), MODE_REASON_TX_COMMAND)) {
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// alert user to mode change failure
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if (copter.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 (copter.ap.initialised) {
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AP_Notify::events.user_mode_change = 1;
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}
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if (!rc().find_channel_for_option(AUX_FUNC::SIMPLE_MODE) &&
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!rc().find_channel_for_option(AUX_FUNC::SUPERSIMPLE_MODE)) {
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// if none of the Aux Switches are set to Simple or Super Simple Mode then
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// set Simple Mode using stored parameters from EEPROM
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if (BIT_IS_SET(copter.g.super_simple, new_pos)) {
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copter.set_simple_mode(2);
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} else {
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copter.set_simple_mode(BIT_IS_SET(copter.g.simple_modes, new_pos));
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}
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}
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}
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bool RC_Channels_Copter::has_valid_input() const
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{
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if (copter.failsafe.radio) {
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return false;
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}
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if (copter.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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// init_aux_switch_function - initialize aux functions
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void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
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{
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// init channel options
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switch(ch_option) {
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case AUX_FUNC::SIMPLE_MODE:
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case AUX_FUNC::RANGEFINDER:
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case AUX_FUNC::FENCE:
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case AUX_FUNC::SUPERSIMPLE_MODE:
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case AUX_FUNC::ACRO_TRAINER:
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case AUX_FUNC::PARACHUTE_ENABLE:
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case AUX_FUNC::PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
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case AUX_FUNC::RETRACT_MOUNT:
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case AUX_FUNC::MISSION_RESET:
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case AUX_FUNC::ATTCON_FEEDFWD:
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case AUX_FUNC::ATTCON_ACCEL_LIM:
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case AUX_FUNC::MOTOR_INTERLOCK:
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case AUX_FUNC::AVOID_ADSB:
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case AUX_FUNC::PRECISION_LOITER:
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case AUX_FUNC::INVERTED:
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case AUX_FUNC::WINCH_ENABLE:
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do_aux_function(ch_option, ch_flag);
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break;
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// the following functions do not need to be initialised:
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case AUX_FUNC::FLIP:
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case AUX_FUNC::RTL:
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case AUX_FUNC::SAVE_TRIM:
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case AUX_FUNC::SAVE_WP:
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case AUX_FUNC::RESETTOARMEDYAW:
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case AUX_FUNC::AUTO:
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case AUX_FUNC::AUTOTUNE:
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case AUX_FUNC::LAND:
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case AUX_FUNC::BRAKE:
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case AUX_FUNC::THROW:
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case AUX_FUNC::SMART_RTL:
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case AUX_FUNC::GUIDED:
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case AUX_FUNC::LOITER:
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case AUX_FUNC::FOLLOW:
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case AUX_FUNC::PARACHUTE_RELEASE:
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case AUX_FUNC::ARMDISARM:
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case AUX_FUNC::WINCH_CONTROL:
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case AUX_FUNC::USER_FUNC1:
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case AUX_FUNC::USER_FUNC2:
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case AUX_FUNC::USER_FUNC3:
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case AUX_FUNC::ZIGZAG:
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case AUX_FUNC::ZIGZAG_SaveWP:
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case AUX_FUNC::STABILIZE:
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case AUX_FUNC::POSHOLD:
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case AUX_FUNC::ALTHOLD:
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case AUX_FUNC::FLOWHOLD:
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case AUX_FUNC::CIRCLE:
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case AUX_FUNC::DRIFT:
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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_Copter::do_aux_function_change_mode(const control_mode_t mode,
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const aux_switch_pos_t ch_flag)
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{
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switch(ch_flag) {
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case HIGH: {
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// engage mode (if not possible we remain in current flight mode)
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const bool success = copter.set_mode(mode, MODE_REASON_TX_COMMAND);
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if (copter.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 (copter.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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void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
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{
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switch(ch_option) {
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case AUX_FUNC::FLIP:
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// flip if switch is on, positive throttle and we're actually flying
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if (ch_flag == aux_switch_pos_t::HIGH) {
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copter.set_mode(control_mode_t::FLIP, MODE_REASON_TX_COMMAND);
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}
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break;
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case AUX_FUNC::SIMPLE_MODE:
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// low = simple mode off, middle or high position turns simple mode on
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copter.set_simple_mode(ch_flag == HIGH || ch_flag == MIDDLE);
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break;
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case AUX_FUNC::SUPERSIMPLE_MODE:
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// low = simple mode off, middle = simple mode, high = super simple mode
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copter.set_simple_mode(ch_flag);
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break;
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case AUX_FUNC::RTL:
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#if MODE_RTL_ENABLED == ENABLED
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do_aux_function_change_mode(control_mode_t::RTL, ch_flag);
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#endif
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break;
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case AUX_FUNC::SAVE_TRIM:
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if ((ch_flag == HIGH) && (copter.control_mode <= control_mode_t::ACRO) && (copter.channel_throttle->get_control_in() == 0)) {
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copter.save_trim();
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}
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break;
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case AUX_FUNC::SAVE_WP:
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#if MODE_AUTO_ENABLED == ENABLED
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// save waypoint when switch is brought high
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if (ch_flag == HIGH) {
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// do not allow saving new waypoints while we're in auto or disarmed
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if (copter.control_mode == control_mode_t::AUTO || !copter.motors->armed()) {
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return;
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}
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// do not allow saving the first waypoint with zero throttle
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if ((copter.mode_auto.mission.num_commands() == 0) && (copter.channel_throttle->get_control_in() == 0)) {
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return;
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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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// if the mission is empty save a takeoff command
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if (copter.mode_auto.mission.num_commands() == 0) {
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// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
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cmd.id = MAV_CMD_NAV_TAKEOFF;
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cmd.content.location.alt = MAX(copter.current_loc.alt,100);
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// use the current altitude for the target alt for takeoff.
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// only altitude will matter to the AP mission script for takeoff.
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if (copter.mode_auto.mission.add_cmd(cmd)) {
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// log event
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copter.Log_Write_Event(DATA_SAVEWP_ADD_WP);
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}
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}
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// set new waypoint to current location
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cmd.content.location = copter.current_loc;
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// if throttle is above zero, create waypoint command
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if (copter.channel_throttle->get_control_in() > 0) {
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cmd.id = MAV_CMD_NAV_WAYPOINT;
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} else {
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// with zero throttle, create LAND command
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cmd.id = MAV_CMD_NAV_LAND;
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}
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// save command
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if (copter.mode_auto.mission.add_cmd(cmd)) {
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// log event
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copter.Log_Write_Event(DATA_SAVEWP_ADD_WP);
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}
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}
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#endif
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break;
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case AUX_FUNC::MISSION_RESET:
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#if MODE_AUTO_ENABLED == ENABLED
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if (ch_flag == HIGH) {
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copter.mode_auto.mission.reset();
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}
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#endif
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break;
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case AUX_FUNC::AUTO:
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#if MODE_AUTO_ENABLED == ENABLED
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do_aux_function_change_mode(control_mode_t::AUTO, ch_flag);
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#endif
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break;
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case AUX_FUNC::RANGEFINDER:
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// enable or disable the rangefinder
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#if RANGEFINDER_ENABLED == ENABLED
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if ((ch_flag == HIGH) && copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
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copter.rangefinder_state.enabled = true;
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} else {
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copter.rangefinder_state.enabled = false;
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}
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#endif
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break;
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case AUX_FUNC::FENCE:
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#if AC_FENCE == ENABLED
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// enable or disable the fence
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if (ch_flag == HIGH) {
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copter.fence.enable(true);
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copter.Log_Write_Event(DATA_FENCE_ENABLE);
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} else {
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copter.fence.enable(false);
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copter.Log_Write_Event(DATA_FENCE_DISABLE);
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}
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#endif
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break;
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case AUX_FUNC::ACRO_TRAINER:
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#if MODE_ACRO_ENABLED == ENABLED
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switch(ch_flag) {
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case LOW:
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copter.g.acro_trainer = ACRO_TRAINER_DISABLED;
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copter.Log_Write_Event(DATA_ACRO_TRAINER_DISABLED);
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break;
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case MIDDLE:
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copter.g.acro_trainer = ACRO_TRAINER_LEVELING;
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copter.Log_Write_Event(DATA_ACRO_TRAINER_LEVELING);
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break;
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case HIGH:
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copter.g.acro_trainer = ACRO_TRAINER_LIMITED;
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copter.Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
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break;
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}
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#endif
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break;
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case AUX_FUNC::AUTOTUNE:
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#if AUTOTUNE_ENABLED == ENABLED
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do_aux_function_change_mode(control_mode_t::AUTOTUNE, ch_flag);
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#endif
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break;
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case AUX_FUNC::LAND:
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do_aux_function_change_mode(control_mode_t::LAND, ch_flag);
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break;
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case AUX_FUNC::GUIDED:
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do_aux_function_change_mode(control_mode_t::GUIDED, ch_flag);
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break;
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case AUX_FUNC::LOITER:
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do_aux_function_change_mode(control_mode_t::LOITER, ch_flag);
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break;
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case AUX_FUNC::FOLLOW:
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do_aux_function_change_mode(control_mode_t::FOLLOW, ch_flag);
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break;
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case AUX_FUNC::PARACHUTE_ENABLE:
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#if PARACHUTE == ENABLED
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// Parachute enable/disable
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copter.parachute.enabled(ch_flag == HIGH);
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#endif
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break;
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case AUX_FUNC::PARACHUTE_RELEASE:
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#if PARACHUTE == ENABLED
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if (ch_flag == HIGH) {
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copter.parachute_manual_release();
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}
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#endif
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break;
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case AUX_FUNC::PARACHUTE_3POS:
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#if PARACHUTE == ENABLED
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// Parachute disable, enable, release with 3 position switch
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switch (ch_flag) {
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case LOW:
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copter.parachute.enabled(false);
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copter.Log_Write_Event(DATA_PARACHUTE_DISABLED);
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break;
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case MIDDLE:
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copter.parachute.enabled(true);
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copter.Log_Write_Event(DATA_PARACHUTE_ENABLED);
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break;
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case HIGH:
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copter.parachute.enabled(true);
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copter.parachute_manual_release();
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break;
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}
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#endif
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break;
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case AUX_FUNC::ATTCON_FEEDFWD:
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// enable or disable feed forward
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copter.attitude_control->bf_feedforward(ch_flag == HIGH);
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break;
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case AUX_FUNC::ATTCON_ACCEL_LIM:
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// enable or disable accel limiting by restoring defaults
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copter.attitude_control->accel_limiting(ch_flag == HIGH);
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break;
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case AUX_FUNC::RETRACT_MOUNT:
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#if MOUNT == ENABLE
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switch (ch_flag) {
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case HIGH:
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copter.camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
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break;
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case MIDDLE:
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// nothing
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break;
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case LOW:
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copter.camera_mount.set_mode_to_default();
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break;
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}
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#endif
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break;
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case AUX_FUNC::MOTOR_INTERLOCK:
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// Turn on when above LOW, because channel will also be used for speed
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// control signal in tradheli
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copter.ap.motor_interlock_switch = (ch_flag == HIGH || ch_flag == MIDDLE);
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break;
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case AUX_FUNC::BRAKE:
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#if MODE_BRAKE_ENABLED == ENABLED
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do_aux_function_change_mode(control_mode_t::BRAKE, ch_flag);
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#endif
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break;
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case AUX_FUNC::THROW:
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#if MODE_THROW_ENABLED == ENABLED
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do_aux_function_change_mode(control_mode_t::THROW, ch_flag);
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#endif
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break;
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case AUX_FUNC::AVOID_ADSB:
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#if ADSB_ENABLED == ENABLED
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// enable or disable AP_Avoidance
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if (ch_flag == HIGH) {
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copter.avoidance_adsb.enable();
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copter.Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE);
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} else {
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copter.avoidance_adsb.disable();
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copter.Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
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}
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#endif
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break;
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case AUX_FUNC::PRECISION_LOITER:
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#if PRECISION_LANDING == ENABLED && MODE_LOITER_ENABLED == ENABLED
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switch (ch_flag) {
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case HIGH:
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copter.mode_loiter.set_precision_loiter_enabled(true);
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break;
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case MIDDLE:
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// nothing
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break;
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case LOW:
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copter.mode_loiter.set_precision_loiter_enabled(false);
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break;
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}
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#endif
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break;
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case AUX_FUNC::ARMDISARM:
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// arm or disarm the vehicle
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switch (ch_flag) {
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case HIGH:
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copter.arming.arm(AP_Arming::Method::AUXSWITCH);
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// remember that we are using an arming switch, for use by set_throttle_zero_flag
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copter.ap.armed_with_switch = true;
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break;
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case MIDDLE:
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// nothing
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break;
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case LOW:
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copter.arming.disarm();
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break;
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}
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break;
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case AUX_FUNC::SMART_RTL:
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#if MODE_SMARTRTL_ENABLED == ENABLED
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do_aux_function_change_mode(control_mode_t::SMART_RTL, ch_flag);
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#endif
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break;
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case AUX_FUNC::INVERTED:
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#if FRAME_CONFIG == HELI_FRAME
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switch (ch_flag) {
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case HIGH:
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copter.motors->set_inverted_flight(true);
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copter.attitude_control->set_inverted_flight(true);
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copter.heli_flags.inverted_flight = true;
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break;
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case MIDDLE:
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// nothing
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break;
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case LOW:
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copter.motors->set_inverted_flight(false);
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copter.attitude_control->set_inverted_flight(false);
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copter.heli_flags.inverted_flight = false;
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break;
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}
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#endif
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break;
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case AUX_FUNC::WINCH_ENABLE:
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#if WINCH_ENABLED == ENABLED
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switch (ch_flag) {
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case HIGH:
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// high switch maintains current position
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copter.g2.winch.release_length(0.0f);
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copter.Log_Write_Event(DATA_WINCH_LENGTH_CONTROL);
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break;
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default:
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// all other position relax winch
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copter.g2.winch.relax();
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copter.Log_Write_Event(DATA_WINCH_RELAXED);
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break;
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}
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#endif
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break;
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case AUX_FUNC::WINCH_CONTROL:
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#if WINCH_ENABLED == ENABLED
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switch (ch_flag) {
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case LOW:
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// raise winch at maximum speed
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copter.g2.winch.set_desired_rate(-copter.g2.winch.get_rate_max());
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break;
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case HIGH:
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// lower winch at maximum speed
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copter.g2.winch.set_desired_rate(copter.g2.winch.get_rate_max());
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break;
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case MIDDLE:
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copter.g2.winch.set_desired_rate(0.0f);
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break;
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}
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#endif
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break;
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#ifdef USERHOOK_AUXSWITCH
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case AUX_FUNC::USER_FUNC1:
|
|
copter.userhook_auxSwitch1(ch_flag);
|
|
break;
|
|
|
|
case AUX_FUNC::USER_FUNC2:
|
|
copter.userhook_auxSwitch2(ch_flag);
|
|
break;
|
|
|
|
case AUX_FUNC::USER_FUNC3:
|
|
copter.userhook_auxSwitch3(ch_flag);
|
|
break;
|
|
#endif
|
|
|
|
case AUX_FUNC::ZIGZAG:
|
|
#if MODE_ZIGZAG_ENABLED == ENABLED
|
|
do_aux_function_change_mode(control_mode_t::ZIGZAG, ch_flag);
|
|
#endif
|
|
break;
|
|
|
|
case AUX_FUNC::ZIGZAG_SaveWP:
|
|
#if MODE_ZIGZAG_ENABLED == ENABLED
|
|
if (copter.flightmode == &copter.mode_zigzag) {
|
|
switch (ch_flag) {
|
|
case LOW:
|
|
copter.mode_zigzag.save_or_move_to_destination(0);
|
|
break;
|
|
case MIDDLE:
|
|
copter.mode_zigzag.return_to_manual_control(false);
|
|
break;
|
|
case HIGH:
|
|
copter.mode_zigzag.save_or_move_to_destination(1);
|
|
break;
|
|
}
|
|
}
|
|
#endif
|
|
break;
|
|
|
|
case AUX_FUNC::STABILIZE:
|
|
do_aux_function_change_mode(control_mode_t::STABILIZE, ch_flag);
|
|
break;
|
|
|
|
case AUX_FUNC::POSHOLD:
|
|
#if MODE_POSHOLD_ENABLED == ENABLED
|
|
do_aux_function_change_mode(control_mode_t::POSHOLD, ch_flag);
|
|
#endif
|
|
break;
|
|
|
|
case AUX_FUNC::ALTHOLD:
|
|
do_aux_function_change_mode(control_mode_t::ALT_HOLD, ch_flag);
|
|
break;
|
|
|
|
case AUX_FUNC::FLOWHOLD:
|
|
#if OPTFLOW == ENABLED
|
|
do_aux_function_change_mode(control_mode_t::FLOWHOLD, ch_flag);
|
|
#endif
|
|
break;
|
|
|
|
case AUX_FUNC::CIRCLE:
|
|
#if MODE_CIRCLE_ENABLED == ENABLED
|
|
do_aux_function_change_mode(control_mode_t::CIRCLE, ch_flag);
|
|
#endif
|
|
break;
|
|
|
|
case AUX_FUNC::DRIFT:
|
|
#if MODE_DRIFT_ENABLED == ENABLED
|
|
do_aux_function_change_mode(control_mode_t::DRIFT, ch_flag);
|
|
#endif
|
|
break;
|
|
|
|
default:
|
|
RC_Channel::do_aux_function(ch_option, ch_flag);
|
|
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;
|
|
}
|
|
}
|
|
}
|