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ardupilot/ArduCopter/RC_Channel.cpp

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#include "Copter.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_Copter
#define RC_CHANNEL_SUBCLASS RC_Channel_Copter
#include <RC_Channel/RC_Channels_VarInfo.h>
int8_t RC_Channels_Copter::flight_mode_channel_number() const
{
return copter.g.flight_mode_chan.get();
}
void RC_Channel_Copter::mode_switch_changed(modeswitch_pos_t new_pos)
{
if (new_pos < 0 || (uint8_t)new_pos > copter.num_flight_modes) {
// should not have been called
return;
}
if (!copter.set_mode((Mode::Number)copter.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {
// alert user to mode change failure
if (copter.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 (copter.ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
if (!rc().find_channel_for_option(AUX_FUNC::SIMPLE_MODE) &&
!rc().find_channel_for_option(AUX_FUNC::SUPERSIMPLE_MODE)) {
// if none of the Aux Switches are set to Simple or Super Simple Mode then
// set Simple Mode using stored parameters from EEPROM
if (BIT_IS_SET(copter.g.super_simple, new_pos)) {
copter.set_simple_mode(Copter::SimpleMode::SUPERSIMPLE);
} else {
copter.set_simple_mode(BIT_IS_SET(copter.g.simple_modes, new_pos) ? Copter::SimpleMode::SIMPLE : Copter::SimpleMode::NONE);
}
}
}
bool RC_Channels_Copter::has_valid_input() const
{
if (copter.failsafe.radio) {
return false;
}
if (copter.failsafe.radio_counter != 0) {
return false;
}
return true;
}
RC_Channel * RC_Channels_Copter::get_arming_channel(void) const
{
return copter.channel_yaw;
}
// init_aux_switch_function - initialize aux functions
void RC_Channel_Copter::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::ALTHOLD:
case AUX_FUNC::AUTO:
case AUX_FUNC::AUTOTUNE:
case AUX_FUNC::BRAKE:
case AUX_FUNC::CIRCLE:
case AUX_FUNC::DRIFT:
case AUX_FUNC::FLIP:
case AUX_FUNC::FLOWHOLD:
case AUX_FUNC::FOLLOW:
case AUX_FUNC::GUIDED:
case AUX_FUNC::LAND:
case AUX_FUNC::LOITER:
case AUX_FUNC::PARACHUTE_RELEASE:
case AUX_FUNC::POSHOLD:
case AUX_FUNC::RESETTOARMEDYAW:
case AUX_FUNC::RTL:
case AUX_FUNC::SAVE_TRIM:
case AUX_FUNC::SAVE_WP:
case AUX_FUNC::SMART_RTL:
case AUX_FUNC::STABILIZE:
case AUX_FUNC::THROW:
case AUX_FUNC::USER_FUNC1:
case AUX_FUNC::USER_FUNC2:
case AUX_FUNC::USER_FUNC3:
case AUX_FUNC::WINCH_CONTROL:
case AUX_FUNC::ZIGZAG:
case AUX_FUNC::ZIGZAG_Auto:
case AUX_FUNC::ZIGZAG_SaveWP:
case AUX_FUNC::ACRO:
break;
case AUX_FUNC::ACRO_TRAINER:
case AUX_FUNC::ATTCON_ACCEL_LIM:
case AUX_FUNC::ATTCON_FEEDFWD:
case AUX_FUNC::INVERTED:
case AUX_FUNC::MOTOR_INTERLOCK:
case AUX_FUNC::PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case AUX_FUNC::PARACHUTE_ENABLE:
case AUX_FUNC::PRECISION_LOITER:
case AUX_FUNC::RANGEFINDER:
case AUX_FUNC::SIMPLE_MODE:
case AUX_FUNC::STANDBY:
case AUX_FUNC::SUPERSIMPLE_MODE:
case AUX_FUNC::SURFACE_TRACKING:
case AUX_FUNC::WINCH_ENABLE:
do_aux_function(ch_option, ch_flag);
break;
case AUX_FUNC::AIRMODE:
do_aux_function_change_air_mode(ch_flag);
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_Copter::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 = copter.set_mode(mode, ModeReason::RC_COMMAND);
if (copter.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 (copter.flightmode->mode_number() == mode) {
rc().reset_mode_switch();
}
}
}
void RC_Channel_Copter::do_aux_function_armdisarm(const AuxSwitchPos ch_flag)
{
RC_Channel::do_aux_function_armdisarm(ch_flag);
if (copter.arming.is_armed()) {
// remember that we are using an arming switch, for use by
// set_throttle_zero_flag
copter.ap.armed_with_switch = true;
}
}
// do_aux_function - implement the function invoked by auxiliary switches
bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch(ch_option) {
case AUX_FUNC::FLIP:
// flip if switch is on, positive throttle and we're actually flying
if (ch_flag == AuxSwitchPos::HIGH) {
copter.set_mode(Mode::Number::FLIP, ModeReason::RC_COMMAND);
}
break;
case AUX_FUNC::SIMPLE_MODE:
// low = simple mode off, middle or high position turns simple mode on
copter.set_simple_mode((ch_flag == AuxSwitchPos::LOW) ? Copter::SimpleMode::NONE : Copter::SimpleMode::SIMPLE);
break;
case AUX_FUNC::SUPERSIMPLE_MODE: {
Copter::SimpleMode newmode = Copter::SimpleMode::NONE;
switch (ch_flag) {
case AuxSwitchPos::LOW:
break;
case AuxSwitchPos::MIDDLE:
newmode = Copter::SimpleMode::SIMPLE;
break;
case AuxSwitchPos::HIGH:
newmode = Copter::SimpleMode::SUPERSIMPLE;
break;
}
copter.set_simple_mode(newmode);
break;
}
case AUX_FUNC::RTL:
#if MODE_RTL_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
#endif
break;
case AUX_FUNC::SAVE_TRIM:
if ((ch_flag == AuxSwitchPos::HIGH) &&
(copter.flightmode->allows_save_trim()) &&
(copter.channel_throttle->get_control_in() == 0)) {
copter.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 (copter.flightmode->mode_number() == Mode::Number::AUTO || !copter.motors->armed()) {
break;
}
// do not allow saving the first waypoint with zero throttle
if ((copter.mode_auto.mission.num_commands() == 0) && (copter.channel_throttle->get_control_in() == 0)) {
break;
}
// create new mission command
AP_Mission::Mission_Command cmd = {};
// if the mission is empty save a takeoff command
if (copter.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(copter.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 (copter.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 = copter.current_loc;
// if throttle is above zero, create waypoint command
if (copter.channel_throttle->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 (copter.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::RANGEFINDER:
// enable or disable the rangefinder
#if RANGEFINDER_ENABLED == ENABLED
if ((ch_flag == AuxSwitchPos::HIGH) &&
copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
copter.rangefinder_state.enabled = true;
} else {
copter.rangefinder_state.enabled = false;
}
#endif
break;
case AUX_FUNC::ACRO_TRAINER:
#if MODE_ACRO_ENABLED == ENABLED
switch(ch_flag) {
case AuxSwitchPos::LOW:
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::OFF;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_OFF);
break;
case AuxSwitchPos::MIDDLE:
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LEVELING;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LEVELING);
break;
case AuxSwitchPos::HIGH:
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LIMITED;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LIMITED);
break;
}
#endif
break;
case AUX_FUNC::AUTOTUNE:
#if AUTOTUNE_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
#endif
break;
case AUX_FUNC::LAND:
do_aux_function_change_mode(Mode::Number::LAND, ch_flag);
break;
case AUX_FUNC::GUIDED:
do_aux_function_change_mode(Mode::Number::GUIDED, ch_flag);
break;
case AUX_FUNC::LOITER:
do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
break;
case AUX_FUNC::FOLLOW:
do_aux_function_change_mode(Mode::Number::FOLLOW, ch_flag);
break;
case AUX_FUNC::PARACHUTE_ENABLE:
#if PARACHUTE == ENABLED
// Parachute enable/disable
copter.parachute.enabled(ch_flag == AuxSwitchPos::HIGH);
#endif
break;
case AUX_FUNC::PARACHUTE_RELEASE:
#if PARACHUTE == ENABLED
if (ch_flag == AuxSwitchPos::HIGH) {
copter.parachute_manual_release();
}
#endif
break;
case AUX_FUNC::PARACHUTE_3POS:
#if PARACHUTE == ENABLED
// Parachute disable, enable, release with 3 position switch
switch (ch_flag) {
case AuxSwitchPos::LOW:
copter.parachute.enabled(false);
AP::logger().Write_Event(LogEvent::PARACHUTE_DISABLED);
break;
case AuxSwitchPos::MIDDLE:
copter.parachute.enabled(true);
AP::logger().Write_Event(LogEvent::PARACHUTE_ENABLED);
break;
case AuxSwitchPos::HIGH:
copter.parachute.enabled(true);
copter.parachute_manual_release();
break;
}
#endif
break;
case AUX_FUNC::ATTCON_FEEDFWD:
// enable or disable feed forward
copter.attitude_control->bf_feedforward(ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::ATTCON_ACCEL_LIM:
// enable or disable accel limiting by restoring defaults
copter.attitude_control->accel_limiting(ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::MOTOR_INTERLOCK:
#if FRAME_CONFIG == HELI_FRAME
// The interlock logic for ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH is handled
// in heli_update_rotor_speed_targets. Otherwise turn on when above low.
if (copter.motors->get_rsc_mode() != ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH) {
copter.ap.motor_interlock_switch = (ch_flag == AuxSwitchPos::HIGH || ch_flag == AuxSwitchPos::MIDDLE);
}
#else
copter.ap.motor_interlock_switch = (ch_flag == AuxSwitchPos::HIGH || ch_flag == AuxSwitchPos::MIDDLE);
#endif
break;
case AUX_FUNC::BRAKE:
#if MODE_BRAKE_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::BRAKE, ch_flag);
#endif
break;
case AUX_FUNC::THROW:
#if MODE_THROW_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::THROW, ch_flag);
#endif
break;
case AUX_FUNC::PRECISION_LOITER:
#if PRECISION_LANDING == ENABLED && MODE_LOITER_ENABLED == ENABLED
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.mode_loiter.set_precision_loiter_enabled(true);
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
copter.mode_loiter.set_precision_loiter_enabled(false);
break;
}
#endif
break;
case AUX_FUNC::SMART_RTL:
#if MODE_SMARTRTL_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::SMART_RTL, ch_flag);
#endif
break;
case AUX_FUNC::INVERTED:
#if FRAME_CONFIG == HELI_FRAME
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.motors->set_inverted_flight(true);
copter.attitude_control->set_inverted_flight(true);
copter.heli_flags.inverted_flight = true;
break;
case AuxSwitchPos::MIDDLE:
// nothing
break;
case AuxSwitchPos::LOW:
copter.motors->set_inverted_flight(false);
copter.attitude_control->set_inverted_flight(false);
copter.heli_flags.inverted_flight = false;
break;
}
#endif
break;
case AUX_FUNC::WINCH_ENABLE:
#if WINCH_ENABLED == ENABLED
switch (ch_flag) {
case AuxSwitchPos::HIGH:
// high switch position stops winch using rate control
copter.g2.winch.set_desired_rate(0.0f);
break;
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
// all other position relax winch
copter.g2.winch.relax();
break;
}
#endif
break;
case AUX_FUNC::WINCH_CONTROL:
// do nothing, used to control the rate of the winch and is processed within AP_Winch
break;
#ifdef USERHOOK_AUXSWITCH
case AUX_FUNC::USER_FUNC1:
copter.userhook_auxSwitch1(ch_flag);
break;
case AUX_FUNC::USER_FUNC2:
copter.userhook_auxSwitch2(ch_flag);
break;
case AUX_FUNC::USER_FUNC3:
copter.userhook_auxSwitch3(ch_flag);
break;
#endif
case AUX_FUNC::ZIGZAG:
#if MODE_ZIGZAG_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::ZIGZAG, ch_flag);
#endif
break;
case AUX_FUNC::ZIGZAG_SaveWP:
#if MODE_ZIGZAG_ENABLED == ENABLED
if (copter.flightmode == &copter.mode_zigzag) {
// initialize zigzag auto
copter.mode_zigzag.init_auto();
switch (ch_flag) {
case AuxSwitchPos::LOW:
copter.mode_zigzag.save_or_move_to_destination(ModeZigZag::Destination::A);
break;
case AuxSwitchPos::MIDDLE:
copter.mode_zigzag.return_to_manual_control(false);
break;
case AuxSwitchPos::HIGH:
copter.mode_zigzag.save_or_move_to_destination(ModeZigZag::Destination::B);
break;
}
}
#endif
break;
case AUX_FUNC::STABILIZE:
do_aux_function_change_mode(Mode::Number::STABILIZE, ch_flag);
break;
case AUX_FUNC::POSHOLD:
#if MODE_POSHOLD_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::POSHOLD, ch_flag);
#endif
break;
case AUX_FUNC::ALTHOLD:
do_aux_function_change_mode(Mode::Number::ALT_HOLD, ch_flag);
break;
case AUX_FUNC::ACRO:
#if MODE_ACRO_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::ACRO, ch_flag);
#endif
break;
case AUX_FUNC::FLOWHOLD:
#if OPTFLOW == ENABLED
do_aux_function_change_mode(Mode::Number::FLOWHOLD, ch_flag);
#endif
break;
case AUX_FUNC::CIRCLE:
#if MODE_CIRCLE_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
#endif
break;
case AUX_FUNC::DRIFT:
#if MODE_DRIFT_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::DRIFT, ch_flag);
#endif
break;
case AUX_FUNC::STANDBY: {
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.standby_active = true;
AP::logger().Write_Event(LogEvent::STANDBY_ENABLE);
gcs().send_text(MAV_SEVERITY_INFO, "Stand By Enabled");
break;
default:
copter.standby_active = false;
AP::logger().Write_Event(LogEvent::STANDBY_DISABLE);
gcs().send_text(MAV_SEVERITY_INFO, "Stand By Disabled");
break;
}
break;
}
case AUX_FUNC::SURFACE_TRACKING:
switch (ch_flag) {
case AuxSwitchPos::LOW:
copter.surface_tracking.set_surface(Copter::SurfaceTracking::Surface::GROUND);
break;
case AuxSwitchPos::MIDDLE:
copter.surface_tracking.set_surface(Copter::SurfaceTracking::Surface::NONE);
break;
case AuxSwitchPos::HIGH:
copter.surface_tracking.set_surface(Copter::SurfaceTracking::Surface::CEILING);
break;
}
break;
case AUX_FUNC::ZIGZAG_Auto:
#if MODE_ZIGZAG_ENABLED == ENABLED
if (copter.flightmode == &copter.mode_zigzag) {
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.mode_zigzag.run_auto();
break;
default:
copter.mode_zigzag.suspend_auto();
break;
}
}
#endif
break;
case AUX_FUNC::AIRMODE:
do_aux_function_change_air_mode(ch_flag);
#if MODE_ACRO_ENABLED == ENABLED && FRAME_CONFIG != HELI_FRAME
copter.mode_acro.air_mode_aux_changed();
#endif
break;
default:
return RC_Channel::do_aux_function(ch_option, ch_flag);
}
return true;
}
// change air-mode status
void RC_Channel_Copter::do_aux_function_change_air_mode(const AuxSwitchPos ch_flag)
{
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.air_mode = AirMode::AIRMODE_ENABLED;
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
copter.air_mode = AirMode::AIRMODE_DISABLED;
break;
}
}
// save_trim - adds roll and pitch trims from the radio to ahrs
void Copter::save_trim()
{
// save roll and pitch trim
float roll_trim = ToRad((float)channel_roll->get_control_in()/100.0f);
float pitch_trim = ToRad((float)channel_pitch->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 copter level
void Copter::auto_trim_cancel()
{
auto_trim_counter = 0;
AP_Notify::flags.save_trim = false;
gcs().send_text(MAV_SEVERITY_INFO, "AutoTrim cancelled");
}
void Copter::auto_trim()
{
if (auto_trim_counter > 0) {
if (copter.flightmode != &copter.mode_stabilize ||
!copter.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_roll->get_control_in() / 4000.0f);
// calculate pitch trim adjustment
float pitch_trim_adjustment = ToRad((float)channel_pitch->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");
}
}
}
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