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RC_Channel: move support for ADSB avoidance switch enable up

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This commit is contained in:
Peter Barker 2019-11-04 11:18:01 +11:00 committed by Peter Barker
parent 3fb596d5ae
commit e12a841eb5
2 changed files with 36 additions and 0 deletions
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35
libraries/RC_Channel/RC_Channel.cpp
View File

@ -33,9 +33,11 @@ extern const AP_HAL::HAL& hal;
#include <AC_Sprayer/AC_Sprayer.h>
#include <AP_Camera/AP_Camera.h>
#include <AP_Gripper/AP_Gripper.h>
#include <AP_ADSB/AP_ADSB.h>
#include <AP_LandingGear/AP_LandingGear.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_Avoidance/AP_Avoidance.h>
#include <AP_GPS/AP_GPS.h>
#include <AC_Fence/AC_Fence.h>
@ -449,6 +451,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
switch(ch_option) {
case AUX_FUNC::FENCE:
case AUX_FUNC::RC_OVERRIDE_ENABLE:
case AUX_FUNC::AVOID_ADSB:
case AUX_FUNC::AVOID_PROXIMITY:
case AUX_FUNC::MISSION_RESET:
do_aux_function(ch_option, ch_flag);
@ -512,6 +515,34 @@ bool RC_Channel::read_aux()
}
void RC_Channel::do_aux_function_avoid_adsb(const aux_switch_pos_t ch_flag)
{
AP_Avoidance *avoidance = AP::ap_avoidance();
if (avoidance == nullptr) {
return;
}
AP_ADSB *adsb = AP::ADSB();
if (adsb == nullptr) {
return;
}
if (ch_flag == HIGH) {
// try to enable AP_Avoidance
if (!adsb->enabled()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB not enabled");
return;
}
avoidance->enable();
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_ENABLE);
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Enabled");
return;
}
// disable AP_Avoidance
avoidance->disable();
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_DISABLE);
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Disabled");
}
void RC_Channel::do_aux_function_avoid_proximity(const aux_switch_pos_t ch_flag)
{
AC_Avoid *avoid = AP::ac_avoid();
@ -710,6 +741,10 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_mission_reset(ch_flag);
break;
case AUX_FUNC::AVOID_ADSB:
do_aux_function_avoid_adsb(ch_flag);
break;
case AUX_FUNC::SPRAYER:
do_aux_function_sprayer(ch_flag);
break;

1
libraries/RC_Channel/RC_Channel.h
View File

@ -197,6 +197,7 @@ 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_adsb(const aux_switch_pos_t ch_flag);
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_fence(const aux_switch_pos_t ch_flag);