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RC_Channel: handle AC_Avoid enable and disable

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Also change Copter's option from Object Avoidance to Proximity Avoidance
due to impending AP_Avoidance stuff

RC_Channel: update aux switch param docs to add object avoidance
This commit is contained in:
Randy Mackay 2018-10-25 16:36:20 +09:00 committed by Peter Barker
parent e6b8607baf
commit 2c29f0d45a
2 changed files with 29 additions and 2 deletions
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30
libraries/RC_Channel/RC_Channel.cpp
View File

@ -29,6 +29,7 @@ extern const AP_HAL::HAL& hal;
#include <GCS_MAVLink/GCS.h>
#include <AC_Avoidance/AC_Avoid.h>
#include <AC_Sprayer/AC_Sprayer.h>
#include <AP_Gripper/AP_Gripper.h>
@ -78,8 +79,8 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: OPTION
// @DisplayName: RC input option
// @Description: Function assigned to this RC channel
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn
// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 30:Lost Rover Sound, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple, 62:Compass Learn
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 44:Winch Enable, 45:WinchControl, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn
// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 30:Lost Rover Sound, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple, 62:Compass Learn
// @Values{Plane}: 0:Do Nothing, 9:Camera Trigger, 28:Relay On/Off, 34:Relay2 On/Off, 30:Lost Plane Sound, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 58:Clear Waypoints, 62:Compass Learn
// @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE),
@ -424,6 +425,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
// init channel options
switch(ch_option) {
case RC_OVERRIDE_ENABLE:
case AVOID_PROXIMITY:
do_aux_function(ch_option, ch_flag);
break;
// the following functions to not need to be initialised:
@ -480,6 +482,26 @@ void RC_Channel::read_aux()
}
void RC_Channel::do_aux_function_avoid_proximity(const aux_switch_pos_t ch_flag)
{
AC_Avoid *avoid = AP::ac_avoid();
if (avoid == nullptr) {
return;
}
switch (ch_flag) {
case HIGH:
avoid->proximity_avoidance_enable(true);
break;
case MIDDLE:
// nothing
break;
case LOW:
avoid->proximity_avoidance_enable(false);
break;
}
}
void RC_Channel::do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag)
{
AP_Camera *camera = AP::camera();
@ -593,6 +615,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_rc_override_enable(ch_flag);
break;
case AVOID_PROXIMITY:
do_aux_function_avoid_proximity(ch_flag);
break;
case RELAY:
do_aux_function_relay(0, ch_flag == HIGH);
break;

1
libraries/RC_Channel/RC_Channel.h
View File

@ -189,6 +189,7 @@ protected:
virtual void init_aux_function(aux_func_t ch_option, aux_switch_pos_t);
virtual void do_aux_function(aux_func_t ch_option, aux_switch_pos_t);
void do_aux_function_avoid_proximity(const aux_switch_pos_t ch_flag);
void do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag);
void do_aux_function_clear_wp(const aux_switch_pos_t ch_flag);
void do_aux_function_gripper(const aux_switch_pos_t ch_flag);