RC_Channel: move handling of auxillary switches into RC_Channel
RC_Channel: move handling of Rover's functions into RC_Channel RC_Channel: move auxsw handling for camera to base RC_Channel RC_Channel: add responsibility for servorelay events RC_Channel: move mode switch handling to base class
This commit is contained in:
Peter Barker
Randy Mackay
parent
007434cdac
commit
61c34ea98c
@ -27,6 +27,8 @@ extern const AP_HAL::HAL& hal;
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#include "RC_Channel.h"
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#include <GCS_MAVLink/GCS.h>
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uint32_t RC_Channel::configured_mask;
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const AP_Param::GroupInfo RC_Channel::var_info[] = {
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@ -72,6 +74,14 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
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// @User: Advanced
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AP_GROUPINFO("DZ", 5, RC_Channel, dead_zone, 0),
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// @Param: OPTION
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// @DisplayName: RC input option
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// @Description: Function assigned to this RC channel
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// @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
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// @Values{Rover}: 0:Do Nothing, 4:RTL, 7:Save WP, 9:Camera Trigger, 16:Auto, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 41:ArmDisarm, 42:SmartRTL, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow
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// @User: Standard
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AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER),
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AP_GROUPEND
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};
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@ -343,3 +353,220 @@ bool RC_Channel::min_max_configured() const
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}
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return false;
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}
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//
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// support for auxillary switches:
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//
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#define MODE_SWITCH_DEBOUNCE_TIME_MS 200
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uint32_t RC_Channel::old_switch_positions;
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RC_Channel::modeswitch_state_t RC_Channel::mode_switch_state;
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void RC_Channel::reset_mode_switch()
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{
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mode_switch_state.last_position = -1;
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mode_switch_state.debounced_position = -1;
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read_mode_switch();
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}
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void RC_Channel::read_mode_switch()
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{
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// calculate position of flight mode switch
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const uint16_t pulsewidth = get_radio_in();
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if (pulsewidth <= 900 || pulsewidth >= 2200) {
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return; // This is an error condition
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}
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modeswitch_pos_t position;
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if (pulsewidth < 1231) position = 0;
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else if (pulsewidth < 1361) position = 1;
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else if (pulsewidth < 1491) position = 2;
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else if (pulsewidth < 1621) position = 3;
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else if (pulsewidth < 1750) position = 4;
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else position = 5;
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if (mode_switch_state.last_position == position) {
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// nothing to do
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return;
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}
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const uint32_t tnow_ms = AP_HAL::millis();
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if (position != mode_switch_state.debounced_position) {
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mode_switch_state.debounced_position = position;
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// store time that switch last moved
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mode_switch_state.last_edge_time_ms = tnow_ms;
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return;
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}
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if (tnow_ms - mode_switch_state.last_edge_time_ms < MODE_SWITCH_DEBOUNCE_TIME_MS) {
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// still in debounce
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return;
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}
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// set flight mode and simple mode setting
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mode_switch_changed(position);
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// set the last switch position. This marks the
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// transition as complete, even if the mode switch actually
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// failed. This prevents the vehicle changing modes
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// unexpectedly some time later.
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mode_switch_state.last_position = position;
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}
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//
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// support for auxillary switches:
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//
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// init_aux_switch_function - initialize aux functions
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void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
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{
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// init channel options
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switch(ch_option) {
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// the following functions to not need to be initialised:
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case RELAY:
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case RELAY2:
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case RELAY3:
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case RELAY4:
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case CAMERA_TRIGGER:
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case DO_NOTHING:
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break;
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default:
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gcs().send_text(MAV_SEVERITY_WARNING, "Failed to initialise RC function (%u)", ch_option);
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break;
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}
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}
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void RC_Channel::read_aux()
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{
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const aux_func_t _option = (aux_func_t)option.get();
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if (_option == DO_NOTHING) {
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// may wish to add special cases for other "AUXSW" things
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// here e.g. RCMAP_ROLL etc once they become options
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return;
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}
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const aux_switch_pos_t new_position = read_3pos_switch();
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const aux_switch_pos_t old_position = old_switch_position();
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if (new_position == old_position) {
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debounce.count = 0;
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return;
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}
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if (debounce.new_position != new_position) {
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debounce.new_position = new_position;
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debounce.count = 0;
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}
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// a value of 2 means we need 3 values in a row with the same
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// value to activate
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if (debounce.count++ < 2) {
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return;
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}
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// debounced; undertake the action:
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do_aux_function(_option, new_position);
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set_old_switch_position(new_position);
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}
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void RC_Channel::do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag)
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{
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AP_Camera *camera = AP::camera();
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if (camera == nullptr) {
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return;
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}
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if (ch_flag == HIGH) {
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camera->take_picture();
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}
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}
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void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val)
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{
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AP_ServoRelayEvents *servorelayevents = AP::servorelayevents();
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if (servorelayevents == nullptr) {
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return;
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}
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servorelayevents->do_set_relay(relay, val);
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}
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void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
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{
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switch(ch_option) {
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case CAMERA_TRIGGER:
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do_aux_function_camera_trigger(ch_flag);
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break;
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case RELAY:
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do_aux_function_relay(0, ch_flag == HIGH);
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break;
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case RELAY2:
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do_aux_function_relay(1, ch_flag == HIGH);
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break;
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case RELAY3:
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do_aux_function_relay(2, ch_flag == HIGH);
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break;
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case RELAY4:
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do_aux_function_relay(3, ch_flag == HIGH);
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break;
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default:
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gcs().send_text(MAV_SEVERITY_INFO, "Invalid channel option (%u)", ch_option);
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break;
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}
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}
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void RC_Channel::init_aux()
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{
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const aux_switch_pos_t position = read_3pos_switch();
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set_old_switch_position(position);
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init_aux_function((aux_func_t)option.get(), position);
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}
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// read_3pos_switch
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RC_Channel::aux_switch_pos_t RC_Channel::read_3pos_switch() const
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{
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const uint16_t in = get_radio_in();
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if (in < AUX_PWM_TRIGGER_LOW) return LOW; // switch is in low position
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if (in > AUX_PWM_TRIGGER_HIGH) return HIGH; // switch is in high position
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return MIDDLE; // switch is in middle position
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}
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RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)
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{
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for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
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RC_Channel *c = channel(i);
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if (c == nullptr) {
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// odd?
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continue;
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}
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if ((RC_Channel::aux_func_t)c->option.get() == option) {
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return c;
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}
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}
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return nullptr;
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}
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// duplicate_options_exist - returns true if any options are duplicated
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bool RC_Channels::duplicate_options_exist()
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{
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uint8_t auxsw_option_counts[256] = {};
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for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
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const RC_Channel *c = channel(i);
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if (c == nullptr) {
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// odd?
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continue;
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}
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const uint16_t option = c->option.get();
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if (option > sizeof(auxsw_option_counts)) {
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continue;
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}
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auxsw_option_counts[option]++;
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}
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for (uint16_t i=0; i<sizeof(auxsw_option_counts); i++) {
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if (i == 0) { // MAGIC VALUE! This is AUXSW_DO_NOTHING
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continue;
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}
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if (auxsw_option_counts[i] > 1) {
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return true;
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}
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}
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return false;
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}
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@ -100,6 +100,96 @@ public:
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bool min_max_configured() const;
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AP_Int16 option; // e.g. activate EPM gripper / enable fence
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// auxillary switch support:
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void init_aux();
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void read_aux();
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// Aux Switch enumeration
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enum aux_func {
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DO_NOTHING = 0, // aux switch disabled
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FLIP = 2, // flip
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SIMPLE_MODE = 3, // change to simple mode
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RTL = 4, // change to RTL flight mode
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SAVE_TRIM = 5, // save current position as level
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SAVE_WP = 7, // save mission waypoint or RTL if in auto mode
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CAMERA_TRIGGER = 9, // trigger camera servo or relay
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RANGEFINDER = 10, // allow enabling or disabling rangefinder in flight which helps avoid surface tracking when you are far above the ground
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FENCE = 11, // allow enabling or disabling fence in flight
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RESETTOARMEDYAW = 12, // UNUSED
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SUPERSIMPLE_MODE = 13, // change to simple mode in middle, super simple at top
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ACRO_TRAINER = 14, // low = disabled, middle = leveled, high = leveled and limited
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SPRAYER = 15, // enable/disable the crop sprayer
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AUTO = 16, // change to auto flight mode
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AUTOTUNE = 17, // auto tune
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LAND = 18, // change to LAND flight mode
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GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on
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PARACHUTE_ENABLE = 21, // Parachute enable/disable
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PARACHUTE_RELEASE = 22, // Parachute release
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PARACHUTE_3POS = 23, // Parachute disable, enable, release with 3 position switch
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MISSION_RESET = 24, // Reset auto mission to start from first command
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ATTCON_FEEDFWD = 25, // enable/disable the roll and pitch rate feed forward
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ATTCON_ACCEL_LIM = 26, // enable/disable the roll, pitch and yaw accel limiting
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RETRACT_MOUNT = 27, // Retract Mount
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RELAY = 28, // Relay pin on/off (only supports first relay)
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LANDING_GEAR = 29, // Landing gear controller
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LOST_COPTER_SOUND = 30, // Play lost copter sound
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MOTOR_ESTOP = 31, // Emergency Stop Switch
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MOTOR_INTERLOCK = 32, // Motor On/Off switch
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BRAKE = 33, // Brake flight mode
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RELAY2 = 34, // Relay2 pin on/off (in Mission planner set RC8_OPTION = 34)
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RELAY3 = 35, // Relay3 pin on/off (in Mission planner set RC9_OPTION = 35)
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RELAY4 = 36, // Relay4 pin on/off (in Mission planner set RC10_OPTION = 36)
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THROW = 37, // change to THROW flight mode
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AVOID_ADSB = 38, // enable AP_Avoidance library
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PRECISION_LOITER = 39, // enable precision loiter
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AVOID_PROXIMITY = 40, // enable object avoidance using proximity sensors (ie. horizontal lidar)
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ARMDISARM = 41, // arm or disarm vehicle
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SMART_RTL = 42, // change to SmartRTL flight mode
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INVERTED = 43, // enable inverted flight
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WINCH_ENABLE = 44, // winch enable/disable
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WINCH_CONTROL = 45, // winch control
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RC_OVERRIDE_ENABLE = 46, // enable RC Override
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USER_FUNC1 = 47, // user function #1
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USER_FUNC2 = 48, // user function #2
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USER_FUNC3 = 49, // user function #3
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LEARN_CRUISE = 50, // learn cruise throttle (Rover)
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MANUAL = 51, // manual mode
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ACRO = 52, // acro mode
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STEERING = 53, // steering mode
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HOLD = 54, // hold mode
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GUIDED = 55, // guided mode
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LOITER = 56, // loiter mode
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FOLLOW = 57, // follow mode
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// if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
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// also, if you add an option >255, you will need to fix duplicate_options_exist
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};
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typedef enum aux_func aux_func_t;
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protected:
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// auxillary switch handling:
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enum aux_switch_pos {
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LOW, // indicates auxiliary switch is in the low position (pwm <1200)
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MIDDLE, // indicates auxiliary switch is in the middle position (pwm >1200, <1800)
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HIGH // indicates auxiliary switch is in the high position (pwm >1800)
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};
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typedef enum aux_switch_pos aux_switch_pos_t;
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virtual void init_aux_function(aux_func_t ch_option, aux_switch_pos_t);
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virtual void do_aux_function(aux_func_t ch_option, aux_switch_pos_t);
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void do_aux_function_relay(uint8_t relay, bool val);
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void do_aux_function_camera_trigger(const aux_switch_pos_t ch_flag);
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typedef int8_t modeswitch_pos_t;
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virtual void mode_switch_changed(modeswitch_pos_t new_pos) {
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// no action by default (e.g. Tracker, Sub, who do their own thing)
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};
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private:
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// pwm is stored here
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@ -130,6 +220,44 @@ private:
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int16_t pwm_to_angle();
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int16_t pwm_to_angle_dz(uint16_t dead_zone);
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// pwm value above which the option will be invoked:
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static const uint16_t AUX_PWM_TRIGGER_HIGH = 1800;
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// pwm value below which the option will be disabled:
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static const uint16_t AUX_PWM_TRIGGER_LOW = 1200;
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aux_switch_pos_t read_3pos_switch() const;
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//Documentation of Aux Switch Flags:
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// 0 is low or false, 1 is center or true, 2 is high
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// pairs of bits in old_switch_positions give the old switch position for an RC input.
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static uint32_t old_switch_positions;
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aux_switch_pos_t old_switch_position() const {
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return (aux_switch_pos_t)((old_switch_positions >> (ch_in*2)) & 0x3);
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}
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void set_old_switch_position(const RC_Channel::aux_switch_pos_t value) {
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old_switch_positions &= ~(0x3 << (ch_in*2));
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old_switch_positions |= (value << (ch_in*2));
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}
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// Structure used to detect changes in the flight mode control switch
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// static since we should only ever have one mode switch!
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typedef struct {
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modeswitch_pos_t debounced_position; // currently used position
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modeswitch_pos_t last_position; // position in previous iteration
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uint32_t last_edge_time_ms; // system time that position was last changed
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} modeswitch_state_t;
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static modeswitch_state_t mode_switch_state;
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// de-bounce counters
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typedef struct {
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uint8_t count;
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uint8_t new_position;
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} debounce_state_t;
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debounce_state_t debounce;
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void reset_mode_switch();
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void read_mode_switch();
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};
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@ -143,31 +271,56 @@ public:
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// constructor
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RC_Channels(void);
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static const struct AP_Param::GroupInfo var_info[];
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void init(void);
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static RC_Channel *rc_channel(uint8_t chan) {
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return (chan < NUM_RC_CHANNELS)?&channels[chan]:nullptr;
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// get singleton instance
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static RC_Channels *get_singleton() {
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return _singleton;
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}
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static uint16_t get_radio_in(const uint8_t chan); // returns the last read radio_in value from a chan, 0 if the channel is out of range
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static uint8_t get_radio_in(uint16_t *chans, const uint8_t num_channels); // reads a block of chanel radio_in values starting from channel 0
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static const struct AP_Param::GroupInfo var_info[];
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virtual RC_Channel *channel(uint8_t chan) = 0;
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uint8_t get_radio_in(uint16_t *chans, const uint8_t num_channels); // reads a block of chanel radio_in values starting from channel 0
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// returns the number of valid channels
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static uint8_t get_valid_channel_count(void); // returns the number of valid channels in the last read
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static int16_t get_receiver_rssi(void); // returns [0, 255] for receiver RSSI (0 is no link) if present, otherwise -1
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static bool read_input(void); // returns true if new input has been read in
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bool read_input(void); // returns true if new input has been read in
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static void clear_overrides(void); // clears any active overrides
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static bool receiver_bind(const int dsmMode); // puts the reciever in bind mode if present, returns true if success
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static void set_override(const uint8_t chan, const int16_t value, const uint32_t timestamp_ms = 0); // set a channels override value
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static bool has_active_overrides(void); // returns true if there are overrides applied that are valid
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class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
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bool duplicate_options_exist();
|
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|
||||
void init_aux_all();
|
||||
virtual void read_aux_all();
|
||||
|
||||
// mode switch handling
|
||||
void reset_mode_switch();
|
||||
virtual void read_mode_switch();
|
||||
|
||||
virtual bool in_rc_failsafe() const = 0;
|
||||
|
||||
private:
|
||||
static RC_Channels *_singleton;
|
||||
// this static arrangement is to avoid static pointers in AP_Param tables
|
||||
static RC_Channel *channels;
|
||||
|
||||
static bool has_new_overrides;
|
||||
static AP_Float *override_timeout;
|
||||
static AP_Int32 *options;
|
||||
RC_Channel obj_channels[NUM_RC_CHANNELS];
|
||||
AP_Float _override_timeout;
|
||||
AP_Int32 _options;
|
||||
|
||||
// flight_mode_channel_number must be overridden:
|
||||
virtual int8_t flight_mode_channel_number() const = 0;
|
||||
RC_Channel *flight_mode_channel();
|
||||
|
||||
};
|
||||
|
||||
RC_Channels &rc();
|
||||
|
||||
@ -33,90 +33,6 @@ bool RC_Channels::has_new_overrides;
|
||||
AP_Float *RC_Channels::override_timeout;
|
||||
AP_Int32 *RC_Channels::options;
|
||||
|
||||
const AP_Param::GroupInfo RC_Channels::var_info[] = {
|
||||
// @Group: 1_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 2_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 3_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 4_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 5_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 6_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 7_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 8_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 9_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 10_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 11_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 12_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 13_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 14_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 15_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_Channels, RC_Channel),
|
||||
|
||||
// @Group: 16_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_Channels, RC_Channel),
|
||||
|
||||
// @Param: _OVERRIDE_TIME
|
||||
// @DisplayName: RC override timeout
|
||||
// @Description: Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
|
||||
// @User: Advanced
|
||||
// @Range: 0.0 120.0
|
||||
// @Units: s
|
||||
AP_GROUPINFO("_OVERRIDE_TIME", 32, RC_Channels, _override_timeout, 3.0),
|
||||
|
||||
// @Param: _OPTIONS
|
||||
// @DisplayName: RC options
|
||||
// @Description: RC input options
|
||||
// @User: Advanced
|
||||
// @Bitmask: 0:Ignore RC Reciever, 1:Ignore MAVLink Overrides
|
||||
AP_GROUPINFO("_OPTIONS", 33, RC_Channels, _options, 0),
|
||||
|
||||
AP_GROUPEND
|
||||
};
|
||||
|
||||
|
||||
/*
|
||||
channels group object constructor
|
||||
*/
|
||||
@ -126,29 +42,31 @@ RC_Channels::RC_Channels(void)
|
||||
|
||||
override_timeout = &_override_timeout;
|
||||
options = &_options;
|
||||
|
||||
|
||||
// set defaults from the parameter table
|
||||
AP_Param::setup_object_defaults(this, var_info);
|
||||
|
||||
// setup ch_in on channels
|
||||
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
|
||||
channels[i].ch_in = i;
|
||||
if (_singleton != nullptr) {
|
||||
AP_HAL::panic("RC_Channels must be singleton");
|
||||
}
|
||||
_singleton = this;
|
||||
}
|
||||
|
||||
uint16_t RC_Channels::get_radio_in(const uint8_t chan)
|
||||
void RC_Channels::init(void)
|
||||
{
|
||||
if (chan >= NUM_RC_CHANNELS) {
|
||||
return 0;
|
||||
// setup ch_in on channels
|
||||
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
|
||||
channel(i)->ch_in = i;
|
||||
}
|
||||
return channels[chan].get_radio_in();
|
||||
|
||||
init_aux_all();
|
||||
}
|
||||
|
||||
uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
|
||||
{
|
||||
uint8_t read_channels = MIN(num_channels, NUM_RC_CHANNELS);
|
||||
const uint8_t read_channels = MIN(num_channels, NUM_RC_CHANNELS);
|
||||
for (uint8_t i = 0; i < read_channels; i++) {
|
||||
chans[i] = channels[i].get_radio_in();
|
||||
chans[i] = channel(i)->get_radio_in();
|
||||
}
|
||||
|
||||
// clear any excess channels we couldn't read
|
||||
@ -160,8 +78,7 @@ uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
|
||||
}
|
||||
|
||||
// update all the input channels
|
||||
bool
|
||||
RC_Channels::read_input(void)
|
||||
bool RC_Channels::read_input(void)
|
||||
{
|
||||
if (!hal.rcin->new_input() && !has_new_overrides) {
|
||||
return false;
|
||||
@ -171,7 +88,7 @@ RC_Channels::read_input(void)
|
||||
|
||||
bool success = false;
|
||||
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
|
||||
success |= channels[i].update();
|
||||
success |= channel(i)->update();
|
||||
}
|
||||
|
||||
return success;
|
||||
@ -220,3 +137,80 @@ bool RC_Channels::receiver_bind(const int dsmMode)
|
||||
{
|
||||
return hal.rcin->rc_bind(dsmMode);
|
||||
}
|
||||
|
||||
|
||||
// support for auxillary switches:
|
||||
// read_aux_switches - checks aux switch positions and invokes configured actions
|
||||
void RC_Channels::read_aux_all()
|
||||
{
|
||||
if (in_rc_failsafe()) {
|
||||
// exit immediately during radio failsafe
|
||||
return;
|
||||
}
|
||||
|
||||
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
|
||||
RC_Channel *c = channel(i);
|
||||
if (c == nullptr) {
|
||||
continue;
|
||||
}
|
||||
c->read_aux();
|
||||
}
|
||||
}
|
||||
|
||||
void RC_Channels::init_aux_all()
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
|
||||
RC_Channel *c = channel(i);
|
||||
if (c == nullptr) {
|
||||
continue;
|
||||
}
|
||||
c->init_aux();
|
||||
}
|
||||
reset_mode_switch();
|
||||
}
|
||||
|
||||
//
|
||||
// Support for mode switches
|
||||
//
|
||||
RC_Channel *RC_Channels::flight_mode_channel()
|
||||
{
|
||||
const int8_t num = flight_mode_channel_number();
|
||||
if (num <= 0) {
|
||||
return nullptr;
|
||||
}
|
||||
if (num >= NUM_RC_CHANNELS) {
|
||||
return nullptr;
|
||||
}
|
||||
return channel(num-1);
|
||||
}
|
||||
|
||||
void RC_Channels::reset_mode_switch()
|
||||
{
|
||||
RC_Channel *c = flight_mode_channel();
|
||||
if (c == nullptr) {
|
||||
return;
|
||||
}
|
||||
c->reset_mode_switch();
|
||||
}
|
||||
|
||||
void RC_Channels::read_mode_switch()
|
||||
{
|
||||
if (in_rc_failsafe()) {
|
||||
return;
|
||||
}
|
||||
RC_Channel *c = flight_mode_channel();
|
||||
if (c == nullptr) {
|
||||
return;
|
||||
}
|
||||
c->read_mode_switch();
|
||||
}
|
||||
|
||||
|
||||
// singleton instance
|
||||
RC_Channels *RC_Channels::_singleton;
|
||||
|
||||
|
||||
RC_Channels &rc()
|
||||
{
|
||||
return *RC_Channels::get_singleton();
|
||||
}
|
||||
|
||||
93
libraries/RC_Channel/RC_Channels_VarInfo.h
Normal file
93
libraries/RC_Channel/RC_Channels_VarInfo.h
Normal file
@ -0,0 +1,93 @@
|
||||
#pragma once
|
||||
|
||||
/*
|
||||
this header file is expected to be #included by Vehicle subclasses
|
||||
of RC_Channels after defining RC_CHANNELS_SUBCLASS and
|
||||
RC_CHANNEL_SUBCLASS - for example, Rover defines
|
||||
RC_CHANNELS_SUBCLASS to be RC_Channels_Rover in APMrover2/RC_Channels.cpp, and then includes this header.
|
||||
|
||||
This scheme reduces code duplicate between the Vehicles, and avoids the chance of things getting out of sync.
|
||||
*/
|
||||
|
||||
const AP_Param::GroupInfo RC_Channels::var_info[] = {
|
||||
// @Group: 1_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[0], "1_", 1, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 2_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[1], "2_", 2, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 3_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[2], "3_", 3, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 4_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[3], "4_", 4, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 5_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[4], "5_", 5, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 6_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[5], "6_", 6, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 7_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[6], "7_", 7, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 8_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[7], "8_", 8, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 9_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[8], "9_", 9, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 10_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[9], "10_", 10, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 11_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[10], "11_", 11, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 12_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[11], "12_", 12, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 13_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[12], "13_", 13, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 14_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[13], "14_", 14, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 15_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[14], "15_", 15, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Group: 16_
|
||||
// @Path: RC_Channel.cpp
|
||||
AP_SUBGROUPINFO(obj_channels[15], "16_", 16, RC_CHANNELS_SUBCLASS, RC_CHANNEL_SUBCLASS),
|
||||
|
||||
// @Param: _OVERRIDE_TIME
|
||||
// @DisplayName: RC override timeout
|
||||
// @Description: Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
|
||||
// @User: Advanced
|
||||
// @Range: 0.0 120.0
|
||||
// @Units: s
|
||||
AP_GROUPINFO("_OVERRIDE_TIME", 32, RC_CHANNELS_SUBCLASS, _override_timeout, 3.0),
|
||||
|
||||
// @Param: _OPTIONS
|
||||
// @DisplayName: RC options
|
||||
// @Description: RC input options
|
||||
// @User: Advanced
|
||||
// @Bitmask: 0:Ignore RC Reciever, 1:Ignore MAVLink Overrides
|
||||
AP_GROUPINFO("_OPTIONS", 33, RC_CHANNELS_SUBCLASS, _options, 0),
|
||||
|
||||
AP_GROUPEND
|
||||
};
|
||||
Loading…
Reference in New Issue
Block a user