aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: move handling of sprayer and gripper up

Browse Source
This commit is contained in:
Peter Barker 2018-06-08 13:36:52 +10:00 committed by Randy Mackay
parent 4223d933d2
commit 6e0b5e307a
1 changed files with 0 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
ArduCopter/RC_Channel.cpp
View File

@ -68,8 +68,6 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
case FENCE:
case SUPERSIMPLE_MODE:
case ACRO_TRAINER:
case GRIPPER:
case SPRAYER:
case PARACHUTE_ENABLE:
case PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case RETRACT_MOUNT:
@ -266,32 +264,6 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
#endif
break;
case GRIPPER:
#if GRIPPER_ENABLED == ENABLED
switch(ch_flag) {
case LOW:
copter.g2.gripper.release();
copter.Log_Write_Event(DATA_GRIPPER_RELEASE);
break;
case MIDDLE:
// nothing
break;
case HIGH:
copter.g2.gripper.grab();
copter.Log_Write_Event(DATA_GRIPPER_GRAB);
break;
}
#endif
break;
case SPRAYER:
#if SPRAYER_ENABLED == ENABLED
copter.sprayer.run(ch_flag == HIGH);
// if we are disarmed the pilot must want to test the pump
copter.sprayer.test_pump((ch_flag == HIGH) && !copter.motors->armed());
#endif
break;
case AUTOTUNE:
#if AUTOTUNE_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::AUTOTUNE, ch_flag);