ardupilot/ArduPlane/RC_Channel.cpp

378 lines
11 KiB
C++

#include "Plane.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_Plane
#define RC_CHANNEL_SUBCLASS RC_Channel_Plane
#include <RC_Channel/RC_Channels_VarInfo.h>
// note that this callback is not presently used on Plane:
int8_t RC_Channels_Plane::flight_mode_channel_number() const
{
return plane.g.flight_mode_channel.get();
}
bool RC_Channels_Plane::has_valid_input() const
{
if (plane.rc_failsafe_active() || plane.failsafe.rc_failsafe) {
return false;
}
if (plane.failsafe.throttle_counter != 0) {
return false;
}
return true;
}
RC_Channel * RC_Channels_Plane::get_arming_channel(void) const
{
return plane.channel_rudder;
}
void RC_Channel_Plane::do_aux_function_change_mode(const Mode::Number number,
const AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case AuxSwitchPos::HIGH: {
// engage mode (if not possible we remain in current flight mode)
plane.set_mode_by_number(number, ModeReason::RC_COMMAND);
break;
}
default:
// return to flight mode switch's flight mode if we are currently
// in this mode
if (plane.control_mode->mode_number() == number) {
// TODO: rc().reset_mode_switch();
plane.reset_control_switch();
}
}
}
#if HAL_QUADPLANE_ENABLED
void RC_Channel_Plane::do_aux_function_q_assist_state(AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case AuxSwitchPos::HIGH:
gcs().send_text(MAV_SEVERITY_INFO, "QAssist: Force enabled");
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_FORCE);
break;
case AuxSwitchPos::MIDDLE:
gcs().send_text(MAV_SEVERITY_INFO, "QAssist: Enabled");
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED);
break;
case AuxSwitchPos::LOW:
gcs().send_text(MAV_SEVERITY_INFO, "QAssist: Disabled");
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
break;
}
}
#endif // HAL_QUADPLANE_ENABLED
void RC_Channel_Plane::do_aux_function_crow_mode(AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case AuxSwitchPos::HIGH:
plane.crow_mode = Plane::CrowMode::CROW_DISABLED;
gcs().send_text(MAV_SEVERITY_INFO, "Crow Flaps Disabled");
break;
case AuxSwitchPos::MIDDLE:
gcs().send_text(MAV_SEVERITY_INFO, "Progressive Crow Flaps");
plane.crow_mode = Plane::CrowMode::PROGRESSIVE;
break;
case AuxSwitchPos::LOW:
plane.crow_mode = Plane::CrowMode::NORMAL;
gcs().send_text(MAV_SEVERITY_INFO, "Normal Crow Flaps");
break;
}
}
void RC_Channel_Plane::do_aux_function_soaring_3pos(AuxSwitchPos ch_flag)
{
#if HAL_SOARING_ENABLED
SoaringController::ActiveStatus desired_state = SoaringController::ActiveStatus::SOARING_DISABLED;
switch (ch_flag) {
case AuxSwitchPos::LOW:
desired_state = SoaringController::ActiveStatus::SOARING_DISABLED;
break;
case AuxSwitchPos::MIDDLE:
desired_state = SoaringController::ActiveStatus::MANUAL_MODE_CHANGE;
break;
case AuxSwitchPos::HIGH:
desired_state = SoaringController::ActiveStatus::AUTO_MODE_CHANGE;
break;
}
plane.g2.soaring_controller.set_pilot_desired_state(desired_state);
#endif
}
void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case AuxSwitchPos::HIGH:
plane.flare_mode = Plane::FlareMode::ENABLED_PITCH_TARGET;
#if HAL_QUADPLANE_ENABLED
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
#endif
break;
case AuxSwitchPos::MIDDLE:
plane.flare_mode = Plane::FlareMode::ENABLED_NO_PITCH_TARGET;
#if HAL_QUADPLANE_ENABLED
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
#endif
break;
case AuxSwitchPos::LOW:
#if HAL_QUADPLANE_ENABLED
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED);
#endif
plane.flare_mode = Plane::FlareMode::FLARE_DISABLED;
break;
}
}
void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
const RC_Channel::AuxSwitchPos ch_flag)
{
switch(ch_option) {
// the following functions do not need to be initialised:
case AUX_FUNC::AUTO:
case AUX_FUNC::CIRCLE:
case AUX_FUNC::ACRO:
case AUX_FUNC::TRAINING:
case AUX_FUNC::FLAP:
case AUX_FUNC::GUIDED:
case AUX_FUNC::INVERTED:
case AUX_FUNC::LOITER:
case AUX_FUNC::MANUAL:
case AUX_FUNC::RTL:
case AUX_FUNC::TAKEOFF:
case AUX_FUNC::FBWA:
case AUX_FUNC::FBWA_TAILDRAGGER:
case AUX_FUNC::FWD_THR:
case AUX_FUNC::LANDING_FLARE:
case AUX_FUNC::PARACHUTE_RELEASE:
case AUX_FUNC::MODE_SWITCH_RESET:
case AUX_FUNC::CRUISE:
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::ARMDISARM_AIRMODE:
#endif
case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
case AUX_FUNC::EMERGENCY_LANDING_EN:
break;
case AUX_FUNC::SOARING:
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::Q_ASSIST:
case AUX_FUNC::AIRMODE:
#endif
#if AP_AIRSPEED_AUTOCAL_ENABLE
case AUX_FUNC::ARSPD_CALIBRATE:
#endif
case AUX_FUNC::TER_DISABLE:
case AUX_FUNC::CROW_SELECT:
run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
break;
case AUX_FUNC::REVERSE_THROTTLE:
plane.have_reverse_throttle_rc_option = true;
// setup input throttle as a range. This is needed as init_aux_function is called
// after set_control_channels()
if (plane.channel_throttle) {
plane.channel_throttle->set_range(100);
}
// note that we don't call do_aux_function() here as we don't
// want to startup with reverse thrust
break;
default:
// handle in parent class
RC_Channel::init_aux_function(ch_option, ch_flag);
break;
}
}
// do_aux_function - implement the function invoked by auxillary switches
bool RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch(ch_option) {
case AUX_FUNC::INVERTED:
plane.inverted_flight = (ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::REVERSE_THROTTLE:
plane.reversed_throttle = (ch_flag == AuxSwitchPos::HIGH);
gcs().send_text(MAV_SEVERITY_INFO, "RevThrottle: %s", plane.reversed_throttle?"ENABLE":"DISABLE");
break;
case AUX_FUNC::AUTO:
do_aux_function_change_mode(Mode::Number::AUTO, ch_flag);
break;
case AUX_FUNC::CIRCLE:
do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
break;
case AUX_FUNC::ACRO:
do_aux_function_change_mode(Mode::Number::ACRO, ch_flag);
break;
case AUX_FUNC::TRAINING:
do_aux_function_change_mode(Mode::Number::TRAINING, ch_flag);
break;
case AUX_FUNC::LOITER:
do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
break;
case AUX_FUNC::GUIDED:
do_aux_function_change_mode(Mode::Number::GUIDED, ch_flag);
break;
case AUX_FUNC::MANUAL:
do_aux_function_change_mode(Mode::Number::MANUAL, ch_flag);
break;
case AUX_FUNC::RTL:
do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
break;
case AUX_FUNC::TAKEOFF:
do_aux_function_change_mode(Mode::Number::TAKEOFF, ch_flag);
break;
case AUX_FUNC::FBWA:
do_aux_function_change_mode(Mode::Number::FLY_BY_WIRE_A, ch_flag);
break;
case AUX_FUNC::SOARING:
do_aux_function_soaring_3pos(ch_flag);
break;
case AUX_FUNC::FLAP:
case AUX_FUNC::FBWA_TAILDRAGGER:
break; // input labels, nothing to do
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::Q_ASSIST:
do_aux_function_q_assist_state(ch_flag);
break;
#endif
case AUX_FUNC::FWD_THR:
break; // VTOL forward throttle input label, nothing to do
case AUX_FUNC::TER_DISABLE:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
plane.non_auto_terrain_disable = true;
if (plane.control_mode->allows_terrain_disable()) {
plane.set_target_altitude_current();
}
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
plane.non_auto_terrain_disable = false;
if (plane.control_mode->allows_terrain_disable()) {
plane.set_target_altitude_current();
}
break;
}
gcs().send_text(MAV_SEVERITY_INFO, "NON AUTO TERRN: %s", plane.non_auto_terrain_disable?"OFF":"ON");
break;
case AUX_FUNC::CROW_SELECT:
do_aux_function_crow_mode(ch_flag);
break;
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::AIRMODE:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
plane.quadplane.air_mode = AirMode::ON;
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
plane.quadplane.air_mode = AirMode::OFF;
break;
}
break;
#endif
case AUX_FUNC::ARSPD_CALIBRATE:
#if AP_AIRSPEED_AUTOCAL_ENABLE
switch (ch_flag) {
case AuxSwitchPos::HIGH:
plane.airspeed.set_calibration_enabled(true);
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
plane.airspeed.set_calibration_enabled(false);
break;
}
#endif
break;
case AUX_FUNC::LANDING_FLARE:
do_aux_function_flare(ch_flag);
break;
case AUX_FUNC::PARACHUTE_RELEASE:
#if PARACHUTE == ENABLED
plane.parachute_manual_release();
#endif
break;
case AUX_FUNC::MODE_SWITCH_RESET:
plane.reset_control_switch();
break;
case AUX_FUNC::CRUISE:
do_aux_function_change_mode(Mode::Number::CRUISE, ch_flag);
break;
#if HAL_QUADPLANE_ENABLED
case AUX_FUNC::ARMDISARM_AIRMODE:
RC_Channel::do_aux_function_armdisarm(ch_flag);
if (plane.arming.is_armed()) {
plane.quadplane.air_mode = AirMode::ON;
}
break;
#endif
case AUX_FUNC::TRIM_TO_CURRENT_SERVO_RC:
if (ch_flag == AuxSwitchPos::HIGH) {
plane.trim_radio();
}
break;
case AUX_FUNC::EMERGENCY_LANDING_EN:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
plane.emergency_landing = true;
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
plane.emergency_landing = false;
break;
}
break;
default:
return RC_Channel::do_aux_function(ch_option, ch_flag);
}
return true;
}