ardupilot/Rover/RC_Channel.cpp

250 lines
6.8 KiB
C++

#include "Rover.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_Rover
#define RC_CHANNEL_SUBCLASS RC_Channel_Rover
#include <RC_Channel/RC_Channels_VarInfo.h>
int8_t RC_Channels_Rover::flight_mode_channel_number() const
{
return rover.g.mode_channel;
}
void RC_Channel_Rover::mode_switch_changed(modeswitch_pos_t new_pos)
{
if (new_pos < 0 || (uint8_t)new_pos > rover.num_modes) {
// should not have been called
return;
}
Mode *new_mode = rover.mode_from_mode_num((Mode::Number)rover.modes[new_pos].get());
if (new_mode != nullptr) {
rover.set_mode(*new_mode, ModeReason::RC_COMMAND);
}
}
// init_aux_switch_function - initialize aux functions
void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{
// init channel options
switch (ch_option) {
// the following functions do not need initialising:
case AUX_FUNC::ACRO:
case AUX_FUNC::AUTO:
case AUX_FUNC::FOLLOW:
case AUX_FUNC::GUIDED:
case AUX_FUNC::HOLD:
case AUX_FUNC::LEARN_CRUISE:
case AUX_FUNC::LOITER:
case AUX_FUNC::MAINSAIL:
case AUX_FUNC::MANUAL:
case AUX_FUNC::RTL:
case AUX_FUNC::SAILBOAT_TACK:
case AUX_FUNC::SAVE_TRIM:
case AUX_FUNC::SAVE_WP:
case AUX_FUNC::SIMPLE:
case AUX_FUNC::SMART_RTL:
case AUX_FUNC::STEERING:
break;
case AUX_FUNC::SAILBOAT_MOTOR_3POS:
do_aux_function_sailboat_motor_3pos(ch_flag);
break;
default:
RC_Channel::init_aux_function(ch_option, ch_flag);
break;
}
}
bool RC_Channels_Rover::has_valid_input() const
{
if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
return false;
}
return true;
}
RC_Channel * RC_Channels_Rover::get_arming_channel(void) const
{
return rover.channel_steer;
}
void RC_Channel_Rover::do_aux_function_change_mode(Mode &mode,
const aux_switch_pos_t ch_flag)
{
switch (ch_flag) {
case HIGH:
rover.set_mode(mode, ModeReason::RC_COMMAND);
break;
case MIDDLE:
// do nothing
break;
case LOW:
if (rover.control_mode == &mode) {
rc().reset_mode_switch();
}
}
}
void RC_Channel_Rover::add_waypoint_for_current_loc()
{
// create new mission command
AP_Mission::Mission_Command cmd = {};
// set new waypoint to current location
cmd.content.location = rover.current_loc;
// make the new command to a waypoint
cmd.id = MAV_CMD_NAV_WAYPOINT;
// save command
if (rover.mode_auto.mission.add_cmd(cmd)) {
hal.console->printf("Added waypoint %u", (unsigned)rover.mode_auto.mission.num_commands());
}
}
void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const aux_switch_pos_t ch_flag)
{
switch (ch_flag) {
case HIGH:
rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_ALWAYS);
break;
case MIDDLE:
rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_ASSIST);
break;
case LOW:
rover.g2.sailboat.set_motor_state(Sailboat::UseMotor::USE_MOTOR_NEVER);
break;
}
}
void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{
switch (ch_option) {
case AUX_FUNC::DO_NOTHING:
break;
case AUX_FUNC::SAVE_WP:
if (ch_flag == HIGH) {
// do nothing if in AUTO mode
if (rover.control_mode == &rover.mode_auto) {
return;
}
// if disarmed clear mission and set home to current location
if (!rover.arming.is_armed()) {
rover.mode_auto.mission.clear();
if (!rover.set_home_to_current_location(false)) {
// ignored
}
return;
}
// record the waypoint if not in auto mode
if (rover.control_mode != &rover.mode_auto) {
if (rover.mode_auto.mission.num_commands() == 0) {
// add a home location....
add_waypoint_for_current_loc();
}
add_waypoint_for_current_loc();
}
}
break;
// learn cruise speed and throttle
case AUX_FUNC::LEARN_CRUISE:
if (ch_flag == HIGH) {
rover.cruise_learn_start();
}
break;
// set mode to Manual
case AUX_FUNC::MANUAL:
do_aux_function_change_mode(rover.mode_manual, ch_flag);
break;
// set mode to Acro
case AUX_FUNC::ACRO:
do_aux_function_change_mode(rover.mode_acro, ch_flag);
break;
// set mode to Steering
case AUX_FUNC::STEERING:
do_aux_function_change_mode(rover.mode_steering, ch_flag);
break;
// set mode to Hold
case AUX_FUNC::HOLD:
do_aux_function_change_mode(rover.mode_hold, ch_flag);
break;
// set mode to Auto
case AUX_FUNC::AUTO:
do_aux_function_change_mode(rover.mode_auto, ch_flag);
break;
// set mode to RTL
case AUX_FUNC::RTL:
do_aux_function_change_mode(rover.mode_rtl, ch_flag);
break;
// set mode to SmartRTL
case AUX_FUNC::SMART_RTL:
do_aux_function_change_mode(rover.mode_smartrtl, ch_flag);
break;
// set mode to Guided
case AUX_FUNC::GUIDED:
do_aux_function_change_mode(rover.mode_guided, ch_flag);
break;
// Set mode to LOITER
case AUX_FUNC::LOITER:
do_aux_function_change_mode(rover.mode_loiter, ch_flag);
break;
// Set mode to Follow
case AUX_FUNC::FOLLOW:
do_aux_function_change_mode(rover.mode_follow, ch_flag);
break;
// set mode to Simple
case AUX_FUNC::SIMPLE:
do_aux_function_change_mode(rover.mode_simple, ch_flag);
break;
// trigger sailboat tack
case AUX_FUNC::SAILBOAT_TACK:
// any switch movement interpreted as request to tack
rover.control_mode->handle_tack_request();
break;
// sailboat motor state 3pos
case AUX_FUNC::SAILBOAT_MOTOR_3POS:
do_aux_function_sailboat_motor_3pos(ch_flag);
break;
// mainsail input, nothing to do
case AUX_FUNC::MAINSAIL:
break;
// save steering trim
case AUX_FUNC::SAVE_TRIM:
if (!rover.g2.motors.have_skid_steering() && rover.arming.is_armed() &&
(rover.control_mode != &rover.mode_loiter)
&& (rover.control_mode != &rover.mode_hold) && ch_flag == HIGH) {
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::k_steering);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Steering trim saved!");
}
break;
default:
RC_Channel::do_aux_function(ch_option, ch_flag);
break;
}
}