ardupilot/Blimp/RC_Channel.cpp

257 lines
8.3 KiB
C++

#include "Blimp.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_Blimp
#define RC_CHANNEL_SUBCLASS RC_Channel_Blimp
#include <RC_Channel/RC_Channels_VarInfo.h>
int8_t RC_Channels_Blimp::flight_mode_channel_number() const
{
return blimp.g.flight_mode_chan.get();
}
void RC_Channel_Blimp::mode_switch_changed(modeswitch_pos_t new_pos)
{
if (new_pos < 0 || (uint8_t)new_pos > blimp.num_flight_modes) {
// should not have been called
return;
}
if (!blimp.set_mode((Mode::Number)blimp.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {
// alert user to mode change failure
if (blimp.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
return;
}
// play a tone
// alert user to mode change (except if autopilot is just starting up)
if (blimp.ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
}
bool RC_Channels_Blimp::has_valid_input() const
{
if (blimp.failsafe.radio) {
return false;
}
if (blimp.failsafe.radio_counter != 0) {
return false;
}
return true;
}
RC_Channel * RC_Channels_Blimp::get_arming_channel(void) const
{
return blimp.channel_yaw;
}
// init_aux_switch_function - initialize aux functions
void RC_Channel_Blimp::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
// init channel options
switch (ch_option) {
// the following functions do not need to be initialised:
case AUX_FUNC::MANUAL:
break;
default:
RC_Channel::init_aux_function(ch_option, ch_flag);
break;
}
}
// do_aux_function_change_mode - change mode based on an aux switch
// being moved
void RC_Channel_Blimp::do_aux_function_change_mode(const Mode::Number mode,
const AuxSwitchPos ch_flag)
{
switch (ch_flag) {
case AuxSwitchPos::HIGH: {
// engage mode (if not possible we remain in current flight mode)
const bool success = blimp.set_mode(mode, ModeReason::RC_COMMAND);
if (blimp.ap.initialised) {
if (success) {
AP_Notify::events.user_mode_change = 1;
} else {
AP_Notify::events.user_mode_change_failed = 1;
}
}
break;
}
default:
// return to flight mode switch's flight mode if we are currently
// in this mode
if (blimp.control_mode == mode) {
rc().reset_mode_switch();
}
}
}
void RC_Channel_Blimp::do_aux_function_armdisarm(const AuxSwitchPos ch_flag)
{
RC_Channel::do_aux_function_armdisarm(ch_flag);
if (blimp.arming.is_armed()) {
// remember that we are using an arming switch, for use by
// set_throttle_zero_flag
blimp.ap.armed_with_switch = true;
}
}
// do_aux_function - implement the function invoked by auxiliary switches
bool RC_Channel_Blimp::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch (ch_option) {
case AUX_FUNC::SAVE_TRIM:
if ((ch_flag == AuxSwitchPos::HIGH) &&
(blimp.control_mode <= Mode::Number::MANUAL) &&
(blimp.channel_down->get_control_in() == 0)) {
blimp.save_trim();
}
break;
// case AUX_FUNC::SAVE_WP:
// #if MODE_AUTO_ENABLED == ENABLED
// // save waypoint when switch is brought high
// if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {
// // do not allow saving new waypoints while we're in auto or disarmed
// if (blimp.control_mode == Mode::Number::AUTO || !blimp.motors->armed()) {
// return;
// }
// // do not allow saving the first waypoint with zero throttle
// if ((blimp.mode_auto.mission.num_commands() == 0) && (blimp.channel_down->get_control_in() == 0)) {
// return;
// }
// // create new mission command
// AP_Mission::Mission_Command cmd = {};
// // if the mission is empty save a takeoff command
// if (blimp.mode_auto.mission.num_commands() == 0) {
// // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
// cmd.id = MAV_CMD_NAV_TAKEOFF;
// cmd.content.location.alt = MAX(blimp.current_loc.alt,100);
// // use the current altitude for the target alt for takeoff.
// // only altitude will matter to the AP mission script for takeoff.
// if (blimp.mode_auto.mission.add_cmd(cmd)) {
// // log event
// AP::logger().Write_Event(LogEvent::SAVEWP_ADD_WP);
// }
// }
// // set new waypoint to current location
// cmd.content.location = blimp.current_loc;
// // if throttle is above zero, create waypoint command
// if (blimp.channel_down->get_control_in() > 0) {
// cmd.id = MAV_CMD_NAV_WAYPOINT;
// } else {
// // with zero throttle, create LAND command
// cmd.id = MAV_CMD_NAV_LAND;
// }
// // save command
// if (blimp.mode_auto.mission.add_cmd(cmd)) {
// // log event
// AP::logger().Write_Event(LogEvent::SAVEWP_ADD_WP);
// }
// }
// #endif
// break;
// case AUX_FUNC::AUTO:
// #if MODE_AUTO_ENABLED == ENABLED
// do_aux_function_change_mode(Mode::Number::AUTO, ch_flag);
// #endif
// break;
// case AUX_FUNC::LOITER:
// do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
// break;
case AUX_FUNC::MANUAL:
do_aux_function_change_mode(Mode::Number::MANUAL, ch_flag);
break;
default:
return RC_Channel::do_aux_function(ch_option, ch_flag);
}
return true;
}
// save_trim - adds roll and pitch trims from the radio to ahrs
void Blimp::save_trim()
{
// save roll and pitch trim
float roll_trim = ToRad((float)channel_right->get_control_in()/100.0f);
float pitch_trim = ToRad((float)channel_front->get_control_in()/100.0f);
ahrs.add_trim(roll_trim, pitch_trim);
AP::logger().Write_Event(LogEvent::SAVE_TRIM);
gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
}
// auto_trim - slightly adjusts the ahrs.roll_trim and ahrs.pitch_trim towards the current stick positions
// meant to be called continuously while the pilot attempts to keep the blimp level
void Blimp::auto_trim_cancel()
{
auto_trim_counter = 0;
AP_Notify::flags.save_trim = false;
gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim cancelled");
}
void Blimp::auto_trim()
{
if (auto_trim_counter > 0) {
if (blimp.flightmode != &blimp.mode_manual ||
!blimp.motors->armed()) {
auto_trim_cancel();
return;
}
// flash the leds
AP_Notify::flags.save_trim = true;
if (!auto_trim_started) {
if (ap.land_complete) {
// haven't taken off yet
return;
}
auto_trim_started = true;
}
if (ap.land_complete) {
// landed again.
auto_trim_cancel();
return;
}
auto_trim_counter--;
// calculate roll trim adjustment
float roll_trim_adjustment = ToRad((float)channel_right->get_control_in() / 4000.0f);
// calculate pitch trim adjustment
float pitch_trim_adjustment = ToRad((float)channel_front->get_control_in() / 4000.0f);
// add trim to ahrs object
// save to eeprom on last iteration
ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
// on last iteration restore leds and accel gains to normal
if (auto_trim_counter == 0) {
AP_Notify::flags.save_trim = false;
gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim: Trims saved");
}
}
}