RC_Channel: Add a MOUNT2 retract

ArduPilot · Jul 1, 2024 · 97f8c4b · 97f8c4b
1 parent 38ca478
commit 97f8c4b
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Showing 2 changed files with 39 additions and 17 deletions.
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
@@ -209,6 +209,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter}: 109:use Custom Controller
     // @Values{Copter, Rover, Plane, Blimp}:  110:KillIMU3
     // @Values{Copter,Plane,Rover,Blimp,Sub,Tracker}: 112:SwitchExternalAHRS
+    // @Values{Copter, Rover, Plane}: 113:Retract Mount2
     // @Values{Plane}: 150:CRUISE Mode
     // @Values{Copter}: 151:TURTLE Mode
     // @Values{Copter}: 152:SIMPLE heading reset
@@ -699,6 +700,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::FFT_NOTCH_TUNE:
 #if HAL_MOUNT_ENABLED
     case AUX_FUNC::RETRACT_MOUNT1:
+    case AUX_FUNC::RETRACT_MOUNT2:
     case AUX_FUNC::MOUNT_LOCK:
 #endif
     case AUX_FUNC::LOG_PAUSE:
@@ -735,6 +737,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
     { AUX_FUNC::PARACHUTE_3POS,"Parachute3Position"},
     { AUX_FUNC::MISSION_RESET,"MissionReset"},
     { AUX_FUNC::RETRACT_MOUNT1,"RetractMount1"},
+    { AUX_FUNC::RETRACT_MOUNT2,"RetractMount2"},
     { AUX_FUNC::RELAY,"Relay1"},
     { AUX_FUNC::MOTOR_ESTOP,"MotorEStop"},
     { AUX_FUNC::MOTOR_INTERLOCK,"MotorInterlock"},
@@ -1248,6 +1251,34 @@ void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
 #endif
 }
 
+/**
+ * Perform the RETRACT_MOUNT 1/2 process.
+ * 
+ * @param [in] ch_flag  Position of the switch. HIGH, MIDDLE and LOW.
+ * @param [in] instance 0: RETRACT MOUNT 1 <br>
+ *                      1: RETRACT MOUNT 2
+*/
+void RC_Channel::do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const uint8_t instance)
+{
+#if HAL_MOUNT_ENABLED
+    AP_Mount *mount = AP::mount();
+    if (mount == nullptr) {
+        return;
+    }
+    switch (ch_flag) {
+    case AuxSwitchPos::HIGH:
+        mount->set_mode(instance,MAV_MOUNT_MODE_RETRACT);
+        break;
+    case AuxSwitchPos::MIDDLE:
+        // nothing
+        break;
+    case AuxSwitchPos::LOW:
+        mount->set_mode_to_default(instance);
+        break;
+    }
+#endif  // HAL_MOUNT_ENABLED
+}
+
 bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
 {
 #if AP_SCRIPTING_ENABLED
@@ -1570,24 +1601,13 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
 #endif // AP_CAMERA_ENABLED
 
 #if HAL_MOUNT_ENABLED
-    case AUX_FUNC::RETRACT_MOUNT1: {
-        AP_Mount *mount = AP::mount();
-        if (mount == nullptr) {
-            break;
-        }
-        switch (ch_flag) {
-        case AuxSwitchPos::HIGH:
-            mount->set_mode(0,MAV_MOUNT_MODE_RETRACT);
-            break;
-        case AuxSwitchPos::MIDDLE:
-            // nothing
-            break;
-        case AuxSwitchPos::LOW:
-            mount->set_mode_to_default(0);
-            break;
-        }
+    case AUX_FUNC::RETRACT_MOUNT1:
+        do_aux_function_retract_mount(ch_flag, 0);
+        break;
+
+    case AUX_FUNC::RETRACT_MOUNT2:
+        do_aux_function_retract_mount(ch_flag, 1);
         break;
-    }
 
     case AUX_FUNC::MOUNT_LOCK: {
         AP_Mount *mount = AP::mount();

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
@@ -217,6 +217,7 @@ class RC_Channel {
         KILL_IMU3 =          110, // disable third IMU (for IMU failure testing)
         LOWEHEISER_STARTER = 111,  // allows for manually running starter
         AHRS_TYPE =          112, // change AHRS_EKF_TYPE
+        RETRACT_MOUNT2 =     113, // Retract Mount2
 
         // if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
         // also, if you add an option >255, you will need to fix duplicate_options_exist
@@ -362,6 +363,7 @@ class RC_Channel {
     void do_aux_function_sprayer(const AuxSwitchPos ch_flag);
     void do_aux_function_generator(const AuxSwitchPos ch_flag);
     void do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag);
+    void do_aux_function_retract_mount(const AuxSwitchPos ch_flag, const uint8_t instance);
 
     typedef int8_t modeswitch_pos_t;
     virtual void mode_switch_changed(modeswitch_pos_t new_pos) {