mirror of https://github.com/ArduPilot/ardupilot
332 lines
10 KiB
C++
332 lines
10 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.rc_failsafe_active() || 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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RC_Channel * RC_Channels_Plane::get_arming_channel(void) const
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{
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return plane.channel_rudder;
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}
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void RC_Channel_Plane::do_aux_function_change_mode(const Mode::Number number,
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const AuxSwitchPos ch_flag)
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{
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switch(ch_flag) {
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case AuxSwitchPos::HIGH: {
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// engage mode (if not possible we remain in current flight mode)
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const bool success = plane.set_mode_by_number(number, ModeReason::RC_COMMAND);
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if (plane.control_mode != &plane.mode_initializing) {
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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 (plane.control_mode->mode_number() == number) {
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// TODO: rc().reset_mode_switch();
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plane.reset_control_switch();
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}
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}
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}
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void RC_Channel_Plane::do_aux_function_q_assist_state(AuxSwitchPos ch_flag)
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{
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switch(ch_flag) {
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case AuxSwitchPos::HIGH:
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gcs().send_text(MAV_SEVERITY_INFO, "QAssist: Force enabled");
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plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_FORCE);
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break;
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case AuxSwitchPos::MIDDLE:
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gcs().send_text(MAV_SEVERITY_INFO, "QAssist: Enabled");
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plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED);
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break;
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case AuxSwitchPos::LOW:
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gcs().send_text(MAV_SEVERITY_INFO, "QAssist: Disabled");
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plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
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break;
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}
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}
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void RC_Channel_Plane::do_aux_function_crow_mode(AuxSwitchPos ch_flag)
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{
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switch(ch_flag) {
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case AuxSwitchPos::HIGH:
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plane.crow_mode = Plane::CrowMode::CROW_DISABLED;
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gcs().send_text(MAV_SEVERITY_INFO, "Crow Flaps Disabled");
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break;
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case AuxSwitchPos::MIDDLE:
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gcs().send_text(MAV_SEVERITY_INFO, "Progressive Crow Flaps");
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plane.crow_mode = Plane::CrowMode::PROGRESSIVE;
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break;
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case AuxSwitchPos::LOW:
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plane.crow_mode = Plane::CrowMode::NORMAL;
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gcs().send_text(MAV_SEVERITY_INFO, "Normal Crow Flaps");
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break;
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}
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}
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void RC_Channel_Plane::do_aux_function_soaring_3pos(AuxSwitchPos ch_flag)
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{
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#if HAL_SOARING_ENABLED
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SoaringController::ActiveStatus desired_state = SoaringController::ActiveStatus::SOARING_DISABLED;
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switch (ch_flag) {
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case AuxSwitchPos::LOW:
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desired_state = SoaringController::ActiveStatus::SOARING_DISABLED;
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break;
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case AuxSwitchPos::MIDDLE:
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desired_state = SoaringController::ActiveStatus::MANUAL_MODE_CHANGE;
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break;
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case AuxSwitchPos::HIGH:
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desired_state = SoaringController::ActiveStatus::AUTO_MODE_CHANGE;
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break;
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}
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plane.g2.soaring_controller.set_pilot_desired_state(desired_state);
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#endif
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}
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void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
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{
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switch(ch_flag) {
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case AuxSwitchPos::HIGH:
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plane.flare_mode = Plane::FlareMode::ENABLED_PITCH_TARGET;
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plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
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break;
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case AuxSwitchPos::MIDDLE:
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plane.flare_mode = Plane::FlareMode::ENABLED_NO_PITCH_TARGET;
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plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
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break;
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case AuxSwitchPos::LOW:
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plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED);
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plane.flare_mode = Plane::FlareMode::FLARE_DISABLED;
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break;
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}
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}
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void RC_Channel_Plane::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
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{
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plane.mission.start();
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plane.prev_WP_loc = plane.current_loc;
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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::AuxSwitchPos 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 AUX_FUNC::AUTO:
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case AUX_FUNC::CIRCLE:
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case AUX_FUNC::FLAP:
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case AUX_FUNC::GUIDED:
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case AUX_FUNC::INVERTED:
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case AUX_FUNC::LOITER:
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case AUX_FUNC::MANUAL:
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case AUX_FUNC::RTL:
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case AUX_FUNC::TAKEOFF:
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case AUX_FUNC::FBWA:
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case AUX_FUNC::FBWA_TAILDRAGGER:
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case AUX_FUNC::FWD_THR:
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case AUX_FUNC::LANDING_FLARE:
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case AUX_FUNC::PARACHUTE_RELEASE:
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case AUX_FUNC::MODE_SWITCH_RESET:
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break;
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case AUX_FUNC::Q_ASSIST:
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case AUX_FUNC::SOARING:
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case AUX_FUNC::AIRMODE:
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#if AP_AIRSPEED_AUTOCAL_ENABLE
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case AUX_FUNC::ARSPD_CALIBRATE:
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#endif
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do_aux_function(ch_option, ch_flag);
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break;
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case AUX_FUNC::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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case AUX_FUNC::TER_DISABLE:
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do_aux_function(ch_option, ch_flag);
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break;
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case AUX_FUNC::CROW_SELECT:
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do_aux_function(ch_option, ch_flag);
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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 AuxSwitchPos ch_flag)
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{
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switch(ch_option) {
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case AUX_FUNC::INVERTED:
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plane.inverted_flight = (ch_flag == AuxSwitchPos::HIGH);
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break;
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case AUX_FUNC::REVERSE_THROTTLE:
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plane.reversed_throttle = (ch_flag == AuxSwitchPos::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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case AUX_FUNC::AUTO:
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do_aux_function_change_mode(Mode::Number::AUTO, ch_flag);
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break;
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case AUX_FUNC::CIRCLE:
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do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
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break;
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case AUX_FUNC::LOITER:
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do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
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break;
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case AUX_FUNC::GUIDED:
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do_aux_function_change_mode(Mode::Number::GUIDED, ch_flag);
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break;
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case AUX_FUNC::MANUAL:
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do_aux_function_change_mode(Mode::Number::MANUAL, ch_flag);
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break;
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case AUX_FUNC::RTL:
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do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
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break;
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case AUX_FUNC::TAKEOFF:
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do_aux_function_change_mode(Mode::Number::TAKEOFF, ch_flag);
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break;
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case AUX_FUNC::FBWA:
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do_aux_function_change_mode(Mode::Number::FLY_BY_WIRE_A, ch_flag);
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break;
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case AUX_FUNC::SOARING:
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do_aux_function_soaring_3pos(ch_flag);
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break;
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case AUX_FUNC::FLAP:
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case AUX_FUNC::FBWA_TAILDRAGGER:
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break; // input labels, nothing to do
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case AUX_FUNC::Q_ASSIST:
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do_aux_function_q_assist_state(ch_flag);
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break;
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case AUX_FUNC::FWD_THR:
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break; // VTOL forward throttle input label, nothing to do
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case AUX_FUNC::TER_DISABLE:
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switch (ch_flag) {
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case AuxSwitchPos::HIGH:
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plane.non_auto_terrain_disable = true;
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if (plane.control_mode->allows_terrain_disable()) {
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plane.set_target_altitude_current();
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}
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break;
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case AuxSwitchPos::MIDDLE:
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break;
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case AuxSwitchPos::LOW:
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plane.non_auto_terrain_disable = false;
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if (plane.control_mode->allows_terrain_disable()) {
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plane.set_target_altitude_current();
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}
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break;
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}
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gcs().send_text(MAV_SEVERITY_INFO, "NON AUTO TERRN: %s", plane.non_auto_terrain_disable?"OFF":"ON");
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break;
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case AUX_FUNC::CROW_SELECT:
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do_aux_function_crow_mode(ch_flag);
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break;
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case AUX_FUNC::AIRMODE:
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switch (ch_flag) {
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case AuxSwitchPos::HIGH:
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plane.quadplane.air_mode = AirMode::ON;
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break;
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case AuxSwitchPos::MIDDLE:
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break;
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case AuxSwitchPos::LOW:
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plane.quadplane.air_mode = AirMode::OFF;
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break;
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}
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break;
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case AUX_FUNC::ARSPD_CALIBRATE:
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#if AP_AIRSPEED_AUTOCAL_ENABLE
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switch (ch_flag) {
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case AuxSwitchPos::HIGH:
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plane.airspeed.set_calibration_enabled(true);
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break;
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case AuxSwitchPos::MIDDLE:
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break;
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case AuxSwitchPos::LOW:
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plane.airspeed.set_calibration_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::LANDING_FLARE:
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do_aux_function_flare(ch_flag);
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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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plane.parachute_manual_release();
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#endif
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break;
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case AUX_FUNC::MODE_SWITCH_RESET:
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plane.reset_control_switch();
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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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