mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Tatsuya Yamaguchi
d1831bf276
Override has_pilot_input_for_override_clear() to use Sub's joystick axes (forward, lateral, yaw, plus throttle mapped to vertical thrust) instead of the Copter-style roll/pitch/yaw/throttle set.
92 lines
2.6 KiB
C++
92 lines
2.6 KiB
C++
#include "Sub.h"
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#include "RC_Channel_Sub.h"
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#include "config.h"
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// defining these two macros and including the RC_Channels_VarInfo
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// header defines the parameter information common to all vehicle
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// types
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#define RC_CHANNELS_SUBCLASS RC_Channels_Sub
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#define RC_CHANNEL_SUBCLASS RC_Channel_Sub
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#include <RC_Channel/RC_Channels_VarInfo.h>
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#if AP_SUB_RC_ENABLED
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int8_t RC_Channels_Sub::flight_mode_channel_number() const
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{
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return sub.g.flight_mode_chan.get();
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}
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void RC_Channel_Sub::mode_switch_changed(modeswitch_pos_t new_pos)
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{
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if (new_pos < 0 || (uint8_t)new_pos >= ARRAY_SIZE(sub.g.flight_modes)) {
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// should not have been called
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return;
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}
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if (!sub.set_mode((Mode::Number)sub.g.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {
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return;
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}
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}
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// init_aux_switch_function - initialize aux functions
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void RC_Channel_Sub::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
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{
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RC_Channel::init_aux_function(ch_option, ch_flag);
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}
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bool RC_Channels_Sub::in_rc_failsafe() const
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{
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return sub.failsafe.radio;
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}
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bool RC_Channels_Sub::has_valid_input() const
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{
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if (in_rc_failsafe()) {
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return false;
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}
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if (sub.failsafe.radio_counter != 0) {
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return false;
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}
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return RC_Channels::has_valid_input();
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}
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bool RC_Channels_Sub::has_pilot_input_for_override_clear()
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{
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if (channel_outside_trim_dz(get_forward_channel()) ||
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channel_outside_trim_dz(get_lateral_channel()) ||
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channel_outside_trim_dz(get_yaw_channel())) {
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return true;
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}
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// Sub throttle (=vertical) is biased away from trim by the GCS, so use movement-since-override-start
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if (throttle_moved_since_override_start()) {
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return true;
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}
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return false;
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}
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// do_aux_function - implement the function invoked by auxiliary switches
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bool RC_Channel_Sub::do_aux_function(const AuxFuncTrigger &trigger)
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{
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return RC_Channel::do_aux_function(trigger);
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}
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#else
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// note that this callback is not presently used on Plane:
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int8_t RC_Channels_Sub::flight_mode_channel_number() const
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{
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return 1; // sub does not have a flight mode channel
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}
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#endif
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// returns true if min throttle arming checks should be run
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bool RC_Channels_Sub::arming_check_throttle() const {
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if (sub.g.thr_arming_position == WITHIN_THR_TRIM && RC_Channels::arming_check_throttle()) {
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// center sprung/reversing throttle configured, dont run AP_Arming check for min position
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// Sub already checks this case in its own arming checks
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return false;
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}
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return RC_Channels::arming_check_throttle();
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}
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