ardupilot/APMrover2/control_modes.cpp

209 lines
5.6 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 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();
}
// ready auxiliary switch's position
aux_switch_pos Rover::read_aux_switch_pos()
{
const uint16_t radio_in = channel_aux->get_radio_in();
if (radio_in < AUX_SWITCH_PWM_TRIGGER_LOW) return AUX_SWITCH_LOW;
if (radio_in > AUX_SWITCH_PWM_TRIGGER_HIGH) return AUX_SWITCH_HIGH;
return AUX_SWITCH_MIDDLE;
}
// initialise position of auxiliary switch
void Rover::init_aux_switch()
{
aux_ch7 = read_aux_switch_pos();
}
// read ch7 aux switch
void Rover::read_aux_switch()
{
// do not consume input during rc or throttle failsafe
if ((failsafe.bits & FAILSAFE_EVENT_THROTTLE) || (failsafe.bits & FAILSAFE_EVENT_RC)) {
return;
}
// get ch7's current position
aux_switch_pos aux_ch7_pos = read_aux_switch_pos();
// return if no change to switch position
if (aux_ch7_pos == aux_ch7) {
return;
}
aux_ch7 = aux_ch7_pos;
switch ((enum ch7_option)g.ch7_option.get()) {
case CH7_DO_NOTHING:
break;
case CH7_SAVE_WP:
if (aux_ch7 == AUX_SWITCH_HIGH) {
// do nothing if in AUTO mode
if (control_mode == &mode_auto) {
return;
}
// if disarmed clear mission and set home to current location
if (!arming.is_armed()) {
mission.clear();
set_home_to_current_location(false);
return;
}
// record the waypoint if in manual or steering modes
if (control_mode == &mode_manual || control_mode == &mode_steering) {
// 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("Added waypoint %u", static_cast<uint32_t>(mission.num_commands()));
}
}
}
break;
// learn cruise speed and throttle
case CH7_LEARN_CRUISE:
if (aux_ch7 == AUX_SWITCH_HIGH) {
cruise_learn_start();
} else if (aux_ch7 == AUX_SWITCH_LOW) {
cruise_learn_complete();
}
break;
}
}
// return true if motors are moving
bool Rover::motor_active()
{
// if soft disarmed, motors not active
if (!hal.util->get_soft_armed()) {
return false;
}
// check throttle is active
if (!is_zero(g2.motors.get_throttle())) {
return true;
}
// skid-steering vehicles active when steering
if (g2.motors.have_skid_steering() && !is_zero(g2.motors.get_steering())) {
return true;
}
return false;
}