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

RC_Channel: allow customisation of position text in aux switch announcement

Browse Source 
this means that we get "EKFPosSource 1" rather than "EKFPosSource LOW"
This commit is contained in:
Peter Barker 2024-03-05 09:55:48 +11:00 committed by Peter Barker
parent 2d5e6a5f98
commit 8a478abce9
1 changed files with 8 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/RC_Channel/RC_Channel.cpp
View File

@ -753,7 +753,6 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::RUNCAM_OSD_CONTROL,"RunCamOSDControl"}, { AUX_FUNC::RUNCAM_OSD_CONTROL,"RunCamOSDControl"},
{ AUX_FUNC::VISODOM_ALIGN,"VisOdomAlign"}, { AUX_FUNC::VISODOM_ALIGN,"VisOdomAlign"},
{ AUX_FUNC::AIRMODE, "AirMode"}, { AUX_FUNC::AIRMODE, "AirMode"},
{ AUX_FUNC::EKF_POS_SOURCE,"EKFPosSource"},
{ AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"}, { AUX_FUNC::CAM_MODE_TOGGLE,"CamModeToggle"},
{ AUX_FUNC::GENERATOR,"Generator"}, { AUX_FUNC::GENERATOR,"Generator"},
{ AUX_FUNC::BATTERY_MPPT_ENABLE,"Battery MPPT Enable"}, { AUX_FUNC::BATTERY_MPPT_ENABLE,"Battery MPPT Enable"},
@ -1434,22 +1433,26 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
break; break;
#endif #endif
case AUX_FUNC::EKF_POS_SOURCE: case AUX_FUNC::EKF_POS_SOURCE: {
uint8_t source_set = 0;
switch (ch_flag) { switch (ch_flag) {
case AuxSwitchPos::LOW: case AuxSwitchPos::LOW:
// low switches to primary source // low switches to primary source
AP::ahrs().set_posvelyaw_source_set(0); source_set = 0;
break; break;
case AuxSwitchPos::MIDDLE: case AuxSwitchPos::MIDDLE:
// middle switches to secondary source // middle switches to secondary source
AP::ahrs().set_posvelyaw_source_set(1); source_set = 1;
break; break;
case AuxSwitchPos::HIGH: case AuxSwitchPos::HIGH:
// high switches to tertiary source // high switches to tertiary source
AP::ahrs().set_posvelyaw_source_set(2); source_set = 2;
break; break;
} }
AP::ahrs().set_posvelyaw_source_set(source_set);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Using EKF Source Set %u", source_set+1);
break; break;
}
#if AP_OPTICALFLOW_CALIBRATOR_ENABLED #if AP_OPTICALFLOW_CALIBRATOR_ENABLED
case AUX_FUNC::OPTFLOW_CAL: { case AUX_FUNC::OPTFLOW_CAL: {