mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.8 KiB
C++
129 lines
3.8 KiB
C++
#include "Rover.h"
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void Rover::read_control_switch()
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{
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static bool switch_debouncer;
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uint8_t switchPosition = readSwitch();
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// If switchPosition = 255 this indicates that the mode control channel input was out of range
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// If we get this value we do not want to change modes.
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if(switchPosition == 255) return;
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if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 100) {
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// only use signals that are less than 0.1s old.
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return;
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}
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// we look for changes in the switch position. If the
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// RST_SWITCH_CH parameter is set, then it is a switch that can be
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// used to force re-reading of the control switch. This is useful
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// when returning to the previous mode after a failsafe or fence
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// breach. This channel is best used on a momentary switch (such
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// as a spring loaded trainer switch).
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if (oldSwitchPosition != switchPosition ||
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(g.reset_switch_chan != 0 &&
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hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
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if (switch_debouncer == false) {
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// this ensures that mode switches only happen if the
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// switch changes for 2 reads. This prevents momentary
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// spikes in the mode control channel from causing a mode
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// switch
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switch_debouncer = true;
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return;
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}
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set_mode((enum mode)modes[switchPosition].get());
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oldSwitchPosition = switchPosition;
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prev_WP = current_loc;
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// reset speed integrator
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g.pidSpeedThrottle.reset_I();
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}
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switch_debouncer = false;
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}
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uint8_t Rover::readSwitch(void){
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uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1);
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if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition
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if (pulsewidth <= 1230) return 0;
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if (pulsewidth <= 1360) return 1;
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if (pulsewidth <= 1490) return 2;
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if (pulsewidth <= 1620) return 3;
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if (pulsewidth <= 1749) return 4; // Software Manual
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return 5; // Hardware Manual
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}
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void Rover::reset_control_switch()
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{
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oldSwitchPosition = 254;
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read_control_switch();
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}
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#define CH_7_PWM_TRIGGER 1800
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// read at 10 hz
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// set this to your trainer switch
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void Rover::read_trim_switch()
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{
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switch ((enum ch7_option)g.ch7_option.get()) {
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case CH7_DO_NOTHING:
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break;
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case CH7_SAVE_WP:
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if (channel_learn->get_radio_in() > CH_7_PWM_TRIGGER) {
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// switch is engaged
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ch7_flag = true;
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} else { // switch is disengaged
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if (ch7_flag) {
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ch7_flag = false;
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if (control_mode == MANUAL) {
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hal.console->println("Erasing waypoints");
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// if SW7 is ON in MANUAL = Erase the Flight Plan
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mission.clear();
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if (channel_steer->get_control_in() > 3000) {
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// if roll is full right store the current location as home
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init_home();
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}
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return;
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} else if (control_mode == LEARNING || control_mode == STEERING) {
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// if SW7 is ON in LEARNING = record the Wp
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// create new mission command
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AP_Mission::Mission_Command cmd = {};
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// set new waypoint to current location
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cmd.content.location = current_loc;
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// make the new command to a waypoint
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cmd.id = MAV_CMD_NAV_WAYPOINT;
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// save command
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if(mission.add_cmd(cmd)) {
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hal.console->printf("Learning waypoint %u", (unsigned)mission.num_commands());
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}
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} else if (control_mode == AUTO) {
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// if SW7 is ON in AUTO = set to RTL
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set_mode(RTL);
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}
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}
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}
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break;
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}
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}
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bool Rover::motor_active()
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{
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// Check if armed and throttle is not neutral
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if (hal.util->get_soft_armed()) {
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if (channel_throttle->get_servo_out() != channel_throttle->get_radio_trim()) {
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return true;
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}
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}
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return false;
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}
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