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AP_ServoRelayEvents: allow do-set-servo commands to affect sprayer, gripper #13481

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merged 2 commits into from
Feb 11, 2020
Merged

AP_ServoRelayEvents: allow do-set-servo commands to affect sprayer, gripper #13481

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8cf8ada
SRV_Channel: remove release and choke from FUNCTION param description
rmackay9 Feb 5, 2020
9d306ad
AP_ServoRelayEvents: do-set-servo affects sprayer and gripper
rmackay9 Feb 5, 2020
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6 changes: 6 additions & 0 deletions libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,9 @@ bool AP_ServoRelayEvents::do_set_servo(uint8_t _channel, uint16_t pwm)
{
case SRV_Channel::k_none:
case SRV_Channel::k_manual:
case SRV_Channel::k_sprayer_pump:
case SRV_Channel::k_sprayer_spinner:
case SRV_Channel::k_gripper:
case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16: // rc pass-thru
break;
default:
Expand Down Expand Up @@ -88,6 +91,9 @@ bool AP_ServoRelayEvents::do_repeat_servo(uint8_t _channel, uint16_t _servo_valu
{
case SRV_Channel::k_none:
case SRV_Channel::k_manual:
case SRV_Channel::k_sprayer_pump:
case SRV_Channel::k_sprayer_spinner:
case SRV_Channel::k_gripper:
case SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16: // rc pass-thru
break;
default:
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2 changes: 1 addition & 1 deletion libraries/SRV_Channel/SRV_Channel.cpp
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Expand Up @@ -65,7 +65,7 @@ const AP_Param::GroupInfo SRV_Channel::var_info[] = {
// @Param: FUNCTION
// @DisplayName: Servo output function
// @Description: Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
// @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,11:release,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoilerLeft1,17:DifferentialSpoilerRight1,19:Elevator,21:Rudder,22:SprayerPump,23:SprayerSpinner,24:FlaperonLeft,25:FlaperonRight,26:GroundSteering,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,41:MotorTilt,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,68:Choke,69:Starter,70:Throttle,71:TrackerYaw,72:TrackerPitch,73:ThrottleLeft,74:ThrottleRight,75:tiltMotorLeft,76:tiltMotorRight,77:ElevonLeft,78:ElevonRight,79:VTailLeft,80:VTailRight,81:BoostThrottle,82:Motor9,83:Motor10,84:Motor11,85:Motor12,86:DifferentialSpoilerLeft2,87:DifferentialSpoilerRight2,89:Main Sail,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script 1,95:Script 2,96:Script 3,97:Script 4,98:Script 5,99:Script 6,100:Script 7,101:Script 8,102:Script 9,103:Script 10,104:Script 11,105:Script 12,106:Script 13,107:Script 14,108:Script 15,109:Script 16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,128:Wing Sail Elevator
// @Values: 0:Disabled,1:RCPassThru,2:Flap,3:Flap_auto,4:Aileron,6:mount_pan,7:mount_tilt,8:mount_roll,9:mount_open,10:camera_trigger,12:mount2_pan,13:mount2_tilt,14:mount2_roll,15:mount2_open,16:DifferentialSpoilerLeft1,17:DifferentialSpoilerRight1,19:Elevator,21:Rudder,22:SprayerPump,23:SprayerSpinner,24:FlaperonLeft,25:FlaperonRight,26:GroundSteering,27:Parachute,28:Gripper,29:LandingGear,30:EngineRunEnable,31:HeliRSC,32:HeliTailRSC,33:Motor1,34:Motor2,35:Motor3,36:Motor4,37:Motor5,38:Motor6,39:Motor7,40:Motor8,41:MotorTilt,51:RCIN1,52:RCIN2,53:RCIN3,54:RCIN4,55:RCIN5,56:RCIN6,57:RCIN7,58:RCIN8,59:RCIN9,60:RCIN10,61:RCIN11,62:RCIN12,63:RCIN13,64:RCIN14,65:RCIN15,66:RCIN16,67:Ignition,69:Starter,70:Throttle,71:TrackerYaw,72:TrackerPitch,73:ThrottleLeft,74:ThrottleRight,75:tiltMotorLeft,76:tiltMotorRight,77:ElevonLeft,78:ElevonRight,79:VTailLeft,80:VTailRight,81:BoostThrottle,82:Motor9,83:Motor10,84:Motor11,85:Motor12,86:DifferentialSpoilerLeft2,87:DifferentialSpoilerRight2,89:Main Sail,90:CameraISO,91:CameraAperture,92:CameraFocus,93:CameraShutterSpeed,94:Script 1,95:Script 2,96:Script 3,97:Script 4,98:Script 5,99:Script 6,100:Script 7,101:Script 8,102:Script 9,103:Script 10,104:Script 11,105:Script 12,106:Script 13,107:Script 14,108:Script 15,109:Script 16,120:NeoPixel1,121:NeoPixel2,122:NeoPixel3,123:NeoPixel4,124:RateRoll,125:RatePitch,126:RateThrust,127:RateYaw,128:Wing Sail Elevator
// @User: Standard
AP_GROUPINFO("FUNCTION", 5, SRV_Channel, function, 0),

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4 changes: 2 additions & 2 deletions libraries/SRV_Channel/SRV_Channel.h
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Expand Up @@ -53,7 +53,7 @@ class SRV_Channel {
k_mount_roll = 8, ///< mount roll
k_mount_open = 9, ///< mount open (deploy) / close (retract)
k_cam_trigger = 10, ///< camera trigger
k_egg_drop = 11, ///< egg drop
k_egg_drop = 11, ///< egg drop, deprecated
k_mount2_pan = 12, ///< mount2 yaw (pan)
k_mount2_tilt = 13, ///< mount2 pitch (tilt)
k_mount2_roll = 14, ///< mount2 roll
Expand Down Expand Up @@ -101,7 +101,7 @@ class SRV_Channel {
k_rcin15 = 65,
k_rcin16 = 66,
k_ignition = 67,
k_choke = 68,
k_choke = 68, /// not used
k_starter = 69,
k_throttle = 70,
k_tracker_yaw = 71, ///< antennatracker yaw
Expand Down