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Copter: add disarm aux switch RCn_OPTION=81 #14244

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merged 4 commits into from May 5, 2020
Merged

Copter: add disarm aux switch RCn_OPTION=81 #14244

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185b14e
RC_Channel: add disarm aux switch RCn_OPTION=81
tatsuy Apr 30, 2020
975361b
AP_Arming: pre-arm check for disarm aux switch
tatsuy Apr 30, 2020
fab55e6
RC_Channel: add get_channel_pos function
tatsuy May 2, 2020
7dbfc2c
AP_Camera: move get_channel_pos function to RC_Channels
tatsuy May 2, 2020
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17 changes: 16 additions & 1 deletion libraries/AP_Arming/AP_Arming.cpp
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Expand Up @@ -1055,7 +1055,8 @@ bool AP_Arming::pre_arm_checks(bool report)
& proximity_checks(report)
& camera_checks(report)
& visodom_checks(report)
& aux_auth_checks(report);
& aux_auth_checks(report)
& disarm_switch_checks(report);
}

bool AP_Arming::arm_checks(AP_Arming::Method method)
Expand Down Expand Up @@ -1216,6 +1217,20 @@ bool AP_Arming::visodom_checks(bool display_failure) const
return true;
}

// check disarm switch is asserted
bool AP_Arming::disarm_switch_checks(bool display_failure) const
{
const RC_Channel *chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::DISARM);
if (chan != nullptr &&
chan->get_aux_switch_pos() == RC_Channel::aux_switch_pos_t::HIGH &&
(checks_to_perform & ARMING_CHECK_ALL)) {
check_failed(display_failure, "Disarm Switch on");
return false;
}

return true;
}

void AP_Arming::Log_Write_Arm(const bool forced, const AP_Arming::Method method)
{
const struct log_Arm_Disarm pkt {
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_Arming/AP_Arming.h
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Expand Up @@ -175,6 +175,7 @@ class AP_Arming {
bool rc_checks_copter_sub(bool display_failure, const RC_Channel *channels[4]) const;

bool visodom_checks(bool report) const;
bool disarm_switch_checks(bool report) const;

// mandatory checks that cannot be bypassed. This function will only be called if ARMING_CHECK is zero or arming forced
virtual bool mandatory_checks(bool report) { return true; }
Expand Down
20 changes: 4 additions & 16 deletions libraries/AP_Camera/AP_RunCam.cpp
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Expand Up @@ -265,18 +265,6 @@ void AP_RunCam::update_osd()
update_state_machine_disarmed();
}

// return radio values as LOW, MIDDLE, HIGH
RC_Channel::aux_switch_pos_t AP_RunCam::get_channel_pos(uint8_t rcmapchan) const
{
RC_Channel::aux_switch_pos_t position = RC_Channel::LOW;
const RC_Channel* chan = rc().channel(rcmapchan-1);
if (chan == nullptr || !chan->read_3pos_switch(position)) {
return RC_Channel::LOW;
}

return position;
}

// update the state machine when armed or flying
void AP_RunCam::update_state_machine_armed()
{
Expand Down Expand Up @@ -449,10 +437,10 @@ void AP_RunCam::handle_in_menu(Event ev)
// map rc input to an event
AP_RunCam::Event AP_RunCam::map_rc_input_to_event() const
{
const RC_Channel::aux_switch_pos_t throttle = get_channel_pos(AP::rcmap()->throttle());
const RC_Channel::aux_switch_pos_t yaw = get_channel_pos(AP::rcmap()->yaw());
const RC_Channel::aux_switch_pos_t roll = get_channel_pos(AP::rcmap()->roll());
const RC_Channel::aux_switch_pos_t pitch = get_channel_pos(AP::rcmap()->pitch());
const RC_Channel::aux_switch_pos_t throttle = rc().get_channel_pos(AP::rcmap()->throttle());
const RC_Channel::aux_switch_pos_t yaw = rc().get_channel_pos(AP::rcmap()->yaw());
const RC_Channel::aux_switch_pos_t roll = rc().get_channel_pos(AP::rcmap()->roll());
const RC_Channel::aux_switch_pos_t pitch = rc().get_channel_pos(AP::rcmap()->pitch());

Event result = Event::NONE;

Expand Down
2 changes: 0 additions & 2 deletions libraries/AP_Camera/AP_RunCam.h
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Expand Up @@ -351,8 +351,6 @@ class AP_RunCam

// OSD update loop
void update_osd();
// return radio values as LOW, MIDDLE, HIGH
RC_Channel::aux_switch_pos_t get_channel_pos(uint8_t rcmapchan) const;
// update the state machine when armed or flying
void update_state_machine_armed();
// update the state machine when disarmed
Expand Down
31 changes: 28 additions & 3 deletions libraries/RC_Channel/RC_Channel.cpp
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Expand Up @@ -92,9 +92,9 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: OPTION
// @DisplayName: RC input option
// @Description: Function assigned to this RC channel
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 100:KillIMU1, 101:KillIMU2, 207:MainSail, 102:Camera Mode Toggle
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 100:KillIMU1, 101:KillIMU2, 208:Flap, 102:Camera Mode Toggle
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5, 67:Relay6, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81: Disarm, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm, 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5, 67:Relay6, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81: Disarm, 100:KillIMU1, 101:KillIMU2, 207:MainSail, 102:Camera Mode Toggle
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 16:ModeAuto, 24:Auto Mission Reset, 28:Relay On/Off, 29:Landing Gear, 34:Relay2 On/Off, 30:Lost Plane Sound, 31:Motor Emergency Stop, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm, 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5, 67:Relay6, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81: Disarm, 100:KillIMU1, 101:KillIMU2, 208:Flap, 102:Camera Mode Toggle
// @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE),

Expand Down Expand Up @@ -455,6 +455,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_
case AUX_FUNC::CAMERA_TRIGGER:
case AUX_FUNC::CLEAR_WP:
case AUX_FUNC::COMPASS_LEARN:
case AUX_FUNC::DISARM:
case AUX_FUNC::DO_NOTHING:
case AUX_FUNC::LANDING_GEAR:
case AUX_FUNC::LOST_VEHICLE_SOUND:
Expand Down Expand Up @@ -831,6 +832,12 @@ void RC_Channel::do_aux_function(const aux_func_t ch_option, const aux_switch_po
do_aux_function_armdisarm(ch_flag);
break;

case AUX_FUNC::DISARM:
if (ch_flag == HIGH) {
AP::arming().disarm(AP_Arming::Method::AUXSWITCH);
}
break;

case AUX_FUNC::COMPASS_LEARN:
if (ch_flag == HIGH) {
Compass &compass = AP::compass();
Expand Down Expand Up @@ -980,6 +987,24 @@ bool RC_Channel::read_3pos_switch(RC_Channel::aux_switch_pos_t &ret) const
return true;
}

// return switch position value as LOW, MIDDLE, HIGH
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// if reading the switch fails then it returns LOW
RC_Channel::aux_switch_pos_t RC_Channel::get_aux_switch_pos() const
{
aux_switch_pos_t position = aux_switch_pos_t::LOW;
UNUSED_RESULT(read_3pos_switch(position));

return position;
}

// return switch position value as LOW, MIDDLE, HIGH
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// if reading the switch fails then it returns LOW
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This comment should also be in the header

RC_Channel::aux_switch_pos_t RC_Channels::get_channel_pos(const uint8_t rcmapchan) const
{
const RC_Channel* chan = rc().channel(rcmapchan-1);
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You need to check for nullptr here

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thank you! fixed it.

return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::aux_switch_pos_t::LOW;
}

RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)
{
for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
Expand Down
3 changes: 3 additions & 0 deletions libraries/RC_Channel/RC_Channel.h
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Expand Up @@ -178,6 +178,7 @@ class RC_Channel {
RUNCAM_CONTROL = 78, // control RunCam device
RUNCAM_OSD_CONTROL = 79, // control RunCam OSD
VISODOM_CALIBRATE = 80, // calibrate visual odometry camera's attitude
DISARM = 81, // disarm vehicle
KILL_IMU1 = 100, // disable first IMU (for IMU failure testing)
KILL_IMU2 = 101, // disable second IMU (for IMU failure testing)
CAM_MODE_TOGGLE = 102, // Momentary switch to cycle camera modes
Expand All @@ -200,6 +201,7 @@ class RC_Channel {
};

bool read_3pos_switch(aux_switch_pos_t &ret) const WARN_IF_UNUSED;
aux_switch_pos_t get_aux_switch_pos() const;

protected:

Expand Down Expand Up @@ -322,6 +324,7 @@ class RC_Channels {

class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
bool duplicate_options_exist();
RC_Channel::aux_switch_pos_t get_channel_pos(const uint8_t rcmapchan) const;

void init_aux_all();
void read_aux_all();
Expand Down