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Copter: Add a switch option to enable/disable RC_Override

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This commit is contained in:
Pierre Kancir 2018-01-23 13:54:27 +01:00 committed by Randy Mackay
parent d579e086cf
commit 10e6fe43dd
4 changed files with 24 additions and 0 deletions
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1
ArduCopter/Copter.h
View File

@ -288,6 +288,7 @@ private:
uint8_t in_arming_delay : 1; // 24 // true while we are armed but waiting to spin motors
uint8_t initialised_params : 1; // 25 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
uint8_t compass_init_location : 1; // 26 // true when the compass's initial location has been set
uint8_t rc_override_enable : 1; // 27 // aux switch rc_override is allowed
};
uint32_t value;
} ap_t;

7
ArduCopter/GCS_Mavlink.cpp
View File

@ -761,6 +761,13 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
// or for complete GCS control of switch position
// and RC PWM values.
if(msg->sysid != copter.g.sysid_my_gcs) break; // Only accept control from our gcs
if (!copter.ap.rc_override_enable) {
if (copter.failsafe.rc_override_active) { // if overrides were active previously, disable them
copter.failsafe.rc_override_active = false;
hal.rcin->clear_overrides();
}
break;
}
mavlink_rc_channels_override_t packet;
int16_t v[8];
mavlink_msg_rc_channels_override_decode(msg, &packet);

1
ArduCopter/defines.h
View File

@ -74,6 +74,7 @@ enum aux_sw_func {
AUXSW_INVERTED = 43, // enable inverted flight
AUXSW_WINCH_ENABLE = 44, // winch enable/disable
AUXSW_WINCH_CONTROL = 45, // winch control
AUXSW_RC_OVERRIDE_ENABLE = 46, // enable RC Override
AUXSW_SWITCH_MAX,
};

15
ArduCopter/switches.cpp
View File

@ -198,6 +198,7 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
case AUXSW_AVOID_PROXIMITY:
case AUXSW_INVERTED:
case AUXSW_WINCH_ENABLE:
case AUXSW_RC_OVERRIDE_ENABLE:
do_aux_switch_function(ch_option, ch_flag);
break;
}
@ -657,6 +658,20 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
}
break;
case AUXSW_RC_OVERRIDE_ENABLE:
// Allow or disallow RC_Override
switch (ch_flag) {
case AUX_SWITCH_HIGH: {
ap.rc_override_enable = true;
break;
}
case AUX_SWITCH_LOW: {
ap.rc_override_enable = false;
break;
}
}
break;
}
}