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Sub: send Roll/Pitch Toggle flag

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This commit is contained in:
Willian Galvani 2020-02-20 15:40:01 -03:00 committed by Jacob Walser
parent 544df71fd2
commit ba415c99fe
3 changed files with 6 additions and 1 deletions
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3
ArduSub/GCS_Mavlink.cpp
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@ -140,6 +140,9 @@ bool GCS_MAVLINK_Sub::send_info()
CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT); CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
send_named_float("InputHold", sub.input_hold_engaged); send_named_float("InputHold", sub.input_hold_engaged);
CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
send_named_float("RollPitch", sub.roll_pitch_flag);
return true; return true;
} }

3
ArduSub/Sub.h
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@ -308,6 +308,9 @@ private:
// Flag indicating if we are currently using input hold // Flag indicating if we are currently using input hold
bool input_hold_engaged; bool input_hold_engaged;
// Flag indicating if we are currently controlling Pitch and Roll instead of forward/lateral
bool roll_pitch_flag = false;
// 3D Location vectors // 3D Location vectors
// Current location of the Sub (altitude is relative to home) // Current location of the Sub (altitude is relative to home)
Location current_loc; Location current_loc;

1
ArduSub/joystick.cpp
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@ -24,7 +24,6 @@ const uint8_t SERVO_CHAN_1 = 9; // Pixhawk Aux1
const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2 const uint8_t SERVO_CHAN_2 = 10; // Pixhawk Aux2
const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3 const uint8_t SERVO_CHAN_3 = 11; // Pixhawk Aux3
uint8_t roll_pitch_flag = false; // Flag to adjust roll/pitch instead of forward/lateral
bool controls_reset_since_input_hold = true; bool controls_reset_since_input_hold = true;
} }