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Copter: added left out copter flight modes as auxiliary switch options

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This commit is contained in:
Arjun Vinod 2019-04-06 21:55:15 -04:00 committed by Randy Mackay
parent c2318503db
commit f1de62f0d3
1 changed files with 38 additions and 0 deletions
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38
ArduCopter/RC_Channel.cpp
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@ -104,6 +104,12 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
case AUX_FUNC::USER_FUNC3: case AUX_FUNC::USER_FUNC3:
case AUX_FUNC::ZIGZAG: case AUX_FUNC::ZIGZAG:
case AUX_FUNC::ZIGZAG_SaveWP: case AUX_FUNC::ZIGZAG_SaveWP:
case AUX_FUNC::STABILIZE:
case AUX_FUNC::POSHOLD:
case AUX_FUNC::ALTHOLD:
case AUX_FUNC::FLOWHOLD:
case AUX_FUNC::CIRCLE:
case AUX_FUNC::DRIFT:
break; break;
default: default:
RC_Channel::init_aux_function(ch_option, ch_flag); RC_Channel::init_aux_function(ch_option, ch_flag);
@ -526,6 +532,38 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
#endif #endif
break; break;
case AUX_FUNC::STABILIZE:
do_aux_function_change_mode(control_mode_t::STABILIZE, ch_flag);
break;
case AUX_FUNC::POSHOLD:
#if MODE_POSHOLD_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::POSHOLD, ch_flag);
#endif
break;
case AUX_FUNC::ALTHOLD:
do_aux_function_change_mode(control_mode_t::ALT_HOLD, ch_flag);
break;
case AUX_FUNC::FLOWHOLD:
#if OPTFLOW == ENABLED
do_aux_function_change_mode(control_mode_t::FLOWHOLD, ch_flag);
#endif
break;
case AUX_FUNC::CIRCLE:
#if MODE_CIRCLE_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::CIRCLE, ch_flag);
#endif
break;
case AUX_FUNC::DRIFT:
#if MODE_DRIFT_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::DRIFT, ch_flag);
#endif
break;
default: default:
RC_Channel::do_aux_function(ch_option, ch_flag); RC_Channel::do_aux_function(ch_option, ch_flag);
break; break;