mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
9a79baef59
Merged a bug fix where mode would not revert on geo-fence disable. The mode would not revert if the switch was in position 0. Geofencing will soon be in Rover and I didn't want to forget this bug and chase it later so committing it now. It works fine in Rover now even though the geofencing code isn't in yet.
120 lines
3.8 KiB
C++
120 lines
3.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "Rover.h"
|
|
|
|
void Rover::read_control_switch()
|
|
{
|
|
static bool switch_debouncer;
|
|
uint8_t switchPosition = readSwitch();
|
|
|
|
// If switchPosition = 255 this indicates that the mode control channel input was out of range
|
|
// If we get this value we do not want to change modes.
|
|
if(switchPosition == 255) return;
|
|
|
|
if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 100) {
|
|
// only use signals that are less than 0.1s old.
|
|
return;
|
|
}
|
|
|
|
// we look for changes in the switch position. If the
|
|
// RST_SWITCH_CH parameter is set, then it is a switch that can be
|
|
// used to force re-reading of the control switch. This is useful
|
|
// when returning to the previous mode after a failsafe or fence
|
|
// breach. This channel is best used on a momentary switch (such
|
|
// as a spring loaded trainer switch).
|
|
if (oldSwitchPosition != switchPosition ||
|
|
(g.reset_switch_chan != 0 &&
|
|
hal.rcin->read(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
|
|
|
|
if (switch_debouncer == false) {
|
|
// this ensures that mode switches only happen if the
|
|
// switch changes for 2 reads. This prevents momentary
|
|
// spikes in the mode control channel from causing a mode
|
|
// switch
|
|
switch_debouncer = true;
|
|
return;
|
|
}
|
|
|
|
set_mode((enum mode)modes[switchPosition].get());
|
|
|
|
oldSwitchPosition = switchPosition;
|
|
prev_WP = current_loc;
|
|
|
|
// reset speed integrator
|
|
g.pidSpeedThrottle.reset_I();
|
|
}
|
|
|
|
switch_debouncer = false;
|
|
|
|
}
|
|
|
|
uint8_t Rover::readSwitch(void){
|
|
uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1);
|
|
if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition
|
|
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
|
|
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
|
|
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
|
|
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
|
|
if (pulsewidth >= 1750) return 5; // Hardware Manual
|
|
return 0;
|
|
}
|
|
|
|
void Rover::reset_control_switch()
|
|
{
|
|
oldSwitchPosition = 254;
|
|
read_control_switch();
|
|
}
|
|
|
|
#define CH_7_PWM_TRIGGER 1800
|
|
|
|
// read at 10 hz
|
|
// set this to your trainer switch
|
|
void Rover::read_trim_switch()
|
|
{
|
|
switch ((enum ch7_option)g.ch7_option.get()) {
|
|
case CH7_DO_NOTHING:
|
|
break;
|
|
case CH7_SAVE_WP:
|
|
if (channel_learn->radio_in > CH_7_PWM_TRIGGER) {
|
|
// switch is engaged
|
|
ch7_flag = true;
|
|
} else { // switch is disengaged
|
|
if (ch7_flag) {
|
|
ch7_flag = false;
|
|
|
|
if (control_mode == MANUAL) {
|
|
hal.console->println_P(PSTR("Erasing waypoints"));
|
|
// if SW7 is ON in MANUAL = Erase the Flight Plan
|
|
mission.clear();
|
|
if (channel_steer->control_in > 3000) {
|
|
// if roll is full right store the current location as home
|
|
init_home();
|
|
}
|
|
return;
|
|
} else if (control_mode == LEARNING || control_mode == STEERING) {
|
|
// if SW7 is ON in LEARNING = record the Wp
|
|
|
|
// create new mission command
|
|
AP_Mission::Mission_Command cmd = {};
|
|
|
|
// set new waypoint to current location
|
|
cmd.content.location = current_loc;
|
|
|
|
// make the new command to a waypoint
|
|
cmd.id = MAV_CMD_NAV_WAYPOINT;
|
|
|
|
// save command
|
|
if(mission.add_cmd(cmd)) {
|
|
hal.console->printf_P(PSTR("Learning waypoint %u"), (unsigned)mission.num_commands());
|
|
}
|
|
} else if (control_mode == AUTO) {
|
|
// if SW7 is ON in AUTO = set to RTL
|
|
set_mode(RTL);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|