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Add RC termination switch

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This commit is contained in:
Matthias Grob
2025-07-18 19:36:51 +02:00
parent f0dcd06f5e
commit 52e8a0a0db
8 changed files with 45 additions and 1 deletions
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1
msg/ActionRequest.msg
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@@ -9,6 +9,7 @@ uint8 ACTION_KILL = 4
uint8 ACTION_SWITCH_MODE = 5
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7
uint8 ACTION_TERMINATE = 8
uint8 source # how the request was triggered
uint8 SOURCE_STICK_GESTURE = 0

1
msg/ManualControlSwitches.msg
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@@ -23,6 +23,7 @@ uint8 return_switch # return to launch 2 position switch (mandatory
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch # throttle kill: _NORMAL_, KILL
uint8 termination_switch # trigger termination which cannot be undone
uint8 gear_switch # landing gear switch: _DOWN_, UP
uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT

3
msg/RcChannels.msg
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@@ -29,13 +29,14 @@ uint8 FUNCTION_FLTBTN_SLOT_5 = 25
uint8 FUNCTION_FLTBTN_SLOT_6 = 26
uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
uint8 FUNCTION_PAYLOAD_POWER = 28
uint8 FUNCTION_TERMINATION = 29
uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[29] function # Functions mapping
int8[30] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames

5
src/modules/commander/Commander.cpp
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@@ -1698,6 +1698,11 @@ void Commander::executeActionRequest(const action_request_s &action_request)
break;
case action_request_s::ACTION_TERMINATE:
_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_TERMINATION);
break;
case action_request_s::ACTION_SWITCH_MODE:
if (!_user_mode_intention.change(action_request.mode, ModeChangeSource::User, false)) {

5
src/modules/manual_control/ManualControl.cpp
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@@ -237,6 +237,11 @@ void ManualControl::processSwitches(hrt_abstime &now)
}
}
if (switches.termination_switch != _previous_switches.termination_switch
&& switches.termination_switch == manual_control_switches_s::SWITCH_POS_ON) {
sendActionRequest(action_request_s::ACTION_TERMINATE, action_request_s::SOURCE_RC_SWITCH);
}
if (switches.gear_switch != _previous_switches.gear_switch
&& _previous_switches.gear_switch != manual_control_switches_s::SWITCH_POS_NONE) {

28
src/modules/rc_update/params.c
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@@ -1441,6 +1441,34 @@ PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
*/
PARAM_DEFINE_INT32(RC_MAP_KILL_SW, 0);
/**
* Termination switch channel
*
* @min 0
* @max 18
* @group Radio Switches
* @value 0 Unassigned
* @value 1 Channel 1
* @value 2 Channel 2
* @value 3 Channel 3
* @value 4 Channel 4
* @value 5 Channel 5
* @value 6 Channel 6
* @value 7 Channel 7
* @value 8 Channel 8
* @value 9 Channel 9
* @value 10 Channel 10
* @value 11 Channel 11
* @value 12 Channel 12
* @value 13 Channel 13
* @value 14 Channel 14
* @value 15 Channel 15
* @value 16 Channel 16
* @value 17 Channel 17
* @value 18 Channel 18
*/
PARAM_DEFINE_INT32(RC_MAP_TERM_SW, 0);
/**
* Arm switch channel.
*

2
src/modules/rc_update/rc_update.cpp
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@@ -207,6 +207,7 @@ void RCUpdate::update_rc_functions()
_rc.function[rc_channels_s::FUNCTION_LOITER] = _param_rc_map_loiter_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_OFFBOARD] = _param_rc_map_offb_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_KILLSWITCH] = _param_rc_map_kill_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_TERMINATION] = _param_rc_map_term_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_ARMSWITCH] = _param_rc_map_arm_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_TRANSITION] = _param_rc_map_trans_sw.get() - 1;
_rc.function[rc_channels_s::FUNCTION_GEAR] = _param_rc_map_gear_sw.get() - 1;
@@ -631,6 +632,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.loiter_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_LOITER, _param_rc_loiter_th.get());
switches.offboard_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_OFFBOARD, _param_rc_offb_th.get());
switches.kill_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_KILLSWITCH, _param_rc_killswitch_th.get());
switches.termination_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_TERMINATION, .75f);
switches.arm_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_ARMSWITCH, _param_rc_armswitch_th.get());
switches.transition_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get());
switches.gear_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_GEAR, _param_rc_gear_th.get());

1
src/modules/rc_update/rc_update.h
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@@ -223,6 +223,7 @@ protected:
(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
(ParamInt<px4::params::RC_MAP_OFFB_SW>) _param_rc_map_offb_sw,
(ParamInt<px4::params::RC_MAP_KILL_SW>) _param_rc_map_kill_sw,
(ParamInt<px4::params::RC_MAP_TERM_SW>) _param_rc_map_term_sw,
(ParamInt<px4::params::RC_MAP_ARM_SW>) _param_rc_map_arm_sw,
(ParamInt<px4::params::RC_MAP_TRANS_SW>) _param_rc_map_trans_sw,
(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,