mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.5 KiB
C++
89 lines
2.5 KiB
C++
#include "Plane.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_Plane
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#define RC_CHANNEL_SUBCLASS RC_Channel_Plane
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#include <RC_Channel/RC_Channels_VarInfo.h>
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// note that this callback is not presently used on Plane:
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int8_t RC_Channels_Plane::flight_mode_channel_number() const
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{
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return plane.g.flight_mode_channel.get();
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}
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bool RC_Channels_Plane::has_valid_input() const
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{
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if (plane.failsafe.rc_failsafe) {
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return false;
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}
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if (plane.failsafe.throttle_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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void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
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const RC_Channel::aux_switch_pos_t ch_flag)
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{
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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 ARMDISARM:
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case INVERTED:
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break;
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case REVERSE_THROTTLE:
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plane.have_reverse_throttle_rc_option = true;
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// setup input throttle as a range. This is needed as init_aux_function is called
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// after set_control_channels()
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if (plane.channel_throttle) {
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plane.channel_throttle->set_range(100);
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}
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// note that we don't call do_aux_function() here as we don't
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// want to startup with reverse thrust
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break;
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default:
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// handle in parent class
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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 - implement the function invoked by auxillary switches
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void RC_Channel_Plane::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 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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plane.arm_motors(AP_Arming::Method::AUXSWITCH, 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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plane.disarm_motors();
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break;
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}
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break;
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case INVERTED:
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plane.inverted_flight = (ch_flag == HIGH);
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break;
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case REVERSE_THROTTLE:
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plane.reversed_throttle = (ch_flag == HIGH);
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gcs().send_text(MAV_SEVERITY_INFO, "RevThrottle: %s", plane.reversed_throttle?"ENABLE":"DISABLE");
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break;
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default:
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RC_Channel::do_aux_function(ch_option, ch_flag);
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break;
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}
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}
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