mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.8 KiB
C++
71 lines
1.8 KiB
C++
#include "Plane.h"
|
|
|
|
#include "RC_Channel.h"
|
|
|
|
// defining these two macros and including the RC_Channels_VarInfo
|
|
// header defines the parameter information common to all vehicle
|
|
// types
|
|
#define RC_CHANNELS_SUBCLASS RC_Channels_Plane
|
|
#define RC_CHANNEL_SUBCLASS RC_Channel_Plane
|
|
|
|
#include <RC_Channel/RC_Channels_VarInfo.h>
|
|
|
|
// note that this callback is not presently used on Plane:
|
|
int8_t RC_Channels_Plane::flight_mode_channel_number() const
|
|
{
|
|
return plane.g.flight_mode_channel.get();
|
|
}
|
|
|
|
bool RC_Channels_Plane::has_valid_input() const
|
|
{
|
|
if (plane.failsafe.rc_failsafe) {
|
|
return false;
|
|
}
|
|
if (plane.failsafe.throttle_counter != 0) {
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
|
|
const RC_Channel::aux_switch_pos_t ch_flag)
|
|
{
|
|
switch(ch_option) {
|
|
// the following functions do not need to be initialised:
|
|
case ARMDISARM:
|
|
case INVERTED:
|
|
break;
|
|
default:
|
|
RC_Channel::init_aux_function(ch_option, ch_flag);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// do_aux_function - implement the function invoked by auxillary switches
|
|
void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
|
|
{
|
|
switch(ch_option) {
|
|
case ARMDISARM:
|
|
// arm or disarm the vehicle
|
|
switch (ch_flag) {
|
|
case HIGH:
|
|
plane.arm_motors(AP_Arming::ArmingMethod::AUXSWITCH, true);
|
|
break;
|
|
case MIDDLE:
|
|
// nothing
|
|
break;
|
|
case LOW:
|
|
plane.disarm_motors();
|
|
break;
|
|
}
|
|
break;
|
|
case INVERTED:
|
|
plane.inverted_flight = (ch_flag == HIGH);
|
|
break;
|
|
|
|
default:
|
|
RC_Channel::do_aux_function(ch_option, ch_flag);
|
|
break;
|
|
}
|
|
}
|