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Ap mode setting (#1852)

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* [rotorcraft] allow to change some modes from settings even without RC

see #1819

* [rotorcraft] allow some more modes without RC

* [joystick] change mode directly instead of rc_auto2

* [rotorcraft] change handler name to avoid confusion
This commit is contained in:
Gautier Hattenberger
2016-09-02 21:22:35 +02:00
committed by Felix Ruess
parent f29a989827
commit 16a447da37
6 changed files with 35 additions and 12 deletions
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conf/settings/rotorcraft_basic.xml
+1 -1
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@@ -10,7 +10,7 @@
<strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
<strip_button name="POWER OFF" icon="off.png" value="0" group="power_switch"/>
</dl_setting>
<dl_setting var="autopilot_mode" min="0" step="1" max="2" module="autopilot" shortname="mode" values="KILL|Fail|HOME" handler="set_mode"/>
<dl_setting var="autopilot_mode" min="0" step="1" max="19" module="autopilot" shortname="mode" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree|Forward|Module|Flip|Guided" handler="SetModeHandler"/>
</dl_settings>
</dl_settings>
conf/settings/rotorcraft_basic_multi.xml
+1 -1
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@@ -10,7 +10,7 @@
<strip_button name="POWER ON" icon="on.png" value="1" group="power_switch"/>
<strip_button name="POWER OFF" icon="off.png" value="0" group="power_switch"/>
</dl_setting>
<dl_setting var="autopilot_mode" min="0" step="1" max="2" module="autopilot" shortname="mode" values="KILL|Fail|HOME" handler="set_mode"/>
<dl_setting var="autopilot_mode" min="0" step="1" max="19" module="autopilot" shortname="mode" values="KILL|Fail|HOME|Rate|Att|Rate_rcC|Att_rcC|Att_C|Rate_Z|Att_Z|Hover|Hover_C|Hover_Z|Nav|RC_D|CareFree|Forward|Module|Flip|Guided" handler="SetModeHandler"/>
<dl_setting var="multi_gps_mode" min="0" step="1" max="2" module="subsystems/gps" shortname="gpsmode" values="AUTO|PRIMARY|SECONDARY">
<strip_button name="AUTO" icon="gps.png" value="0" group="gps_mode"/>
<strip_button name="PRIMARY" icon="gps1.png" value="1" group="gps_mode_setting"/>
sw/airborne/firmwares/rotorcraft/autopilot.c
+19
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@@ -401,6 +401,25 @@ void autopilot_periodic(void)
}
/** AP mode setting handler
*
* Checks RC status before calling autopilot_set_mode function
*/
void autopilot_SetModeHandler(float mode)
{
if (mode == AP_MODE_KILL || mode == AP_MODE_FAILSAFE || mode == AP_MODE_HOME) {
// safety modes are always accessible via settings
autopilot_set_mode(mode);
} else {
if (radio_control.status != RC_OK &&
(mode == AP_MODE_NAV || mode == AP_MODE_GUIDED || mode == AP_MODE_FLIP || mode == AP_MODE_MODULE)) {
// without RC, only nav-like modes are accessible
autopilot_set_mode(mode);
}
}
// with RC, other modes can only be changed from the RC
}
void autopilot_set_mode(uint8_t new_autopilot_mode)
{
sw/airborne/firmwares/rotorcraft/autopilot.h
+1
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@@ -67,6 +67,7 @@ extern void autopilot_init(void);
extern void autopilot_periodic(void);
extern void autopilot_on_rc_frame(void);
extern void autopilot_set_mode(uint8_t new_autopilot_mode);
extern void autopilot_SetModeHandler(float new_autopilot_mode); // handler for dl_setting
extern void autopilot_set_motors_on(bool motors_on);
extern void autopilot_check_in_flight(bool motors_on);
sw/airborne/firmwares/rotorcraft/main.c
+4 -1
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@@ -310,7 +310,10 @@ STATIC_INLINE void failsafe_check(void)
autopilot_mode != AP_MODE_KILL &&
autopilot_mode != AP_MODE_HOME &&
autopilot_mode != AP_MODE_FAILSAFE &&
autopilot_mode != AP_MODE_NAV) {
autopilot_mode != AP_MODE_NAV &&
autopilot_mode != AP_MODE_MODULE &&
autopilot_mode != AP_MODE_FLIP &&
autopilot_mode != AP_MODE_GUIDED) {
autopilot_set_mode(RC_LOST_MODE);
}
sw/ground_segment/joystick/gb2ivy.py
+9 -9
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@@ -35,17 +35,17 @@ class Guidance(object):
self.ac_id = ac_id
self.verbose = verbose
self._interface = None
self.auto2_index = None
self.ap_mode = None
try:
settings = PaparazziACSettings(self.ac_id)
except Exception as e:
print(e)
return
try:
self.auto2_index = settings.name_lookup['auto2'].index
self.ap_mode = settings.name_lookup['mode'].index
except Exception as e:
print(e)
print("auto2 setting not found, mode change not possible.")
print("ap_mode setting not found, mode change not possible.")
self._interface = IvyMessagesInterface("gb2ivy")
def shutdown(self):
@@ -66,24 +66,24 @@ class Guidance(object):
def set_guided_mode(self):
"""
change auto2 mode to GUIDED.
change mode to GUIDED.
"""
if self.auto2_index is not None:
if self.ap_mode is not None:
msg = PprzMessage("ground", "DL_SETTING")
msg['ac_id'] = self.ac_id
msg['index'] = self.auto2_index
msg['index'] = self.ap_mode
msg['value'] = 19 # AP_MODE_GUIDED
print("Setting mode to GUIDED: %s" % msg)
self._interface.send(msg)
def set_nav_mode(self):
"""
change auto2 mode to NAV.
change mode to NAV.
"""
if self.auto2_index is not None:
if self.ap_mode is not None:
msg = PprzMessage("ground", "DL_SETTING")
msg['ac_id'] = self.ac_id
msg['index'] = self.auto2_index
msg['index'] = self.ap_mode
msg['value'] = 13 # AP_MODE_NAV
print("Setting mode to NAV: %s" % msg)
self._interface.send(msg)