Copter: ch7/8 switch for auto pause/continue

- added new mode for CH7/CH8 (#24, auto mission reset) - changed mission.start() to mission.start_or_resume() in auto_init()
ArduPilot · May 8, 2014 · 3f0a52c · 3f0a52c
1 parent 8640e11
commit 3f0a52c
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Showing 5 changed files with 20 additions and 4 deletions.
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
@@ -384,14 +384,14 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: CH7_OPT
     // @DisplayName: Channel 7 option
     // @Description: Select which function if performed when CH7 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset
     // @User: Standard
     GSCALAR(ch7_option, "CH7_OPT",                  CH7_OPTION),
 
     // @Param: CH8_OPT
     // @DisplayName: Channel 8 option
     // @Description: Select which function if performed when CH8 is above 1800 pwm
-    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos
+    // @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 8:Multi Mode, 9:Camera Trigger, 10:Sonar, 11:Fence, 12:ResetToArmedYaw, 13:Super Simple Mode, 14:Acro Trainer, 16:Auto, 17:AutoTune, 18:Land, 19:EPM, 20:EKF, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset
     // @User: Standard
     GSCALAR(ch8_option, "CH8_OPT",                  CH8_OPTION),
 

diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde
@@ -30,8 +30,8 @@ static bool auto_init(bool ignore_checks)
         // initialise waypoint and spline controller
         wp_nav.wp_and_spline_init();
 
-        // start the mission
-        mission.start();
+        // start/resume the mission (based on MIS_AUTORESET param)
+        mission.start_or_resume();
         return true;
     }else{
         return false;

diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
@@ -112,9 +112,11 @@ static void init_aux_switches()
         case AUX_SWITCH_EKF:
         case AUX_SWITCH_PARACHUTE_ENABLE:
         case AUX_SWITCH_PARACHUTE_3POS:	    // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
+        case AUX_SWITCH_MISSIONRESET:
             do_aux_switch_function(g.ch7_option, ap.CH7_flag);
             break;
     }
+
     // init channel 8 option
     switch(g.ch8_option) {
         case AUX_SWITCH_SIMPLE_MODE:
@@ -128,6 +130,7 @@ static void init_aux_switches()
         case AUX_SWITCH_EKF:
         case AUX_SWITCH_PARACHUTE_ENABLE:
         case AUX_SWITCH_PARACHUTE_3POS:     // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
+        case AUX_SWITCH_MISSIONRESET:
             do_aux_switch_function(g.ch8_option, ap.CH8_flag);
             break;
     }
@@ -398,7 +401,14 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
                 parachute_manual_release();
                 break;
         }
+        break;
 #endif
+
+    case AUX_SWITCH_MISSIONRESET:
+        if (ch_flag == AUX_SWITCH_HIGH) {
+            mission.reset();
+        }
+        break;
     }
 }
 

diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
@@ -56,6 +56,7 @@
 #define AUX_SWITCH_PARACHUTE_ENABLE 21      // Parachute enable/disable
 #define AUX_SWITCH_PARACHUTE_RELEASE 22     // Parachute release
 #define AUX_SWITCH_PARACHUTE_3POS   23      // Parachute disable, enable, release with 3 position switch
+#define AUX_SWITCH_MISSIONRESET     24      // Reset auto mission to start from first command
 
 // values used by the ap.ch7_opt and ap.ch8_opt flags
 #define AUX_SWITCH_LOW              0       // indicates auxiliar switch is in the low position (pwm <1200)

diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
@@ -208,6 +208,11 @@ static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
     }
 #endif
 
+    // stop mission when we leave auto mode
+    if (old_control_mode == AUTO) {
+        mission.stop();
+    }
+
     // smooth throttle transition when switching from manual to automatic flight modes
     if (manual_flight_mode(old_control_mode) && !manual_flight_mode(new_control_mode) && motors.armed() && !ap.land_complete) {
         // this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle