RC_Channel: put propulsion failure behind a define

ArduPilot · Nov 27, 2023 · a272071 · a272071
1 parent eda2a3c
commit a272071
Show file tree

Hide file tree

Showing 6 changed files with 31 additions and 11 deletions.
diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
@@ -140,6 +140,21 @@ void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
         }    
 }
 
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+void RC_Channel_Plane::do_aux_function_propulsion_failed(AuxSwitchPos ch_flag)
+{
+    switch(ch_flag) {
+    case AuxSwitchPos::HIGH:
+        plane.TECS_controller.set_propulsion_failed_flag(true);
+        break;
+    case AuxSwitchPos::MIDDLE:
+        break;
+    case AuxSwitchPos::LOW:
+        plane.TECS_controller.set_propulsion_failed_flag(false);
+        break;
+    }
+}
+#endif
 
 void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
                                          const RC_Channel::AuxSwitchPos ch_flag)
@@ -177,7 +192,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
     case AUX_FUNC::EMERGENCY_LANDING_EN:
     case AUX_FUNC::FW_AUTOTUNE:
     case AUX_FUNC::VFWD_THR_OVERRIDE:
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
     case AUX_FUNC::TECS_PROP_FAILED:
+#endif
         break;
 
     case AUX_FUNC::SOARING:
@@ -444,18 +461,11 @@ bool RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwit
         }
         break;
 
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
     case AUX_FUNC::TECS_PROP_FAILED:
-        switch (ch_flag) {
-        case AuxSwitchPos::HIGH:
-            plane.TECS_controller.set_propulsion_failed_flag(true);
-            break;
-        case AuxSwitchPos::MIDDLE:
-            break;
-        case AuxSwitchPos::LOW:
-            plane.TECS_controller.set_propulsion_failed_flag(false);
-            break;
-        }
+        do_aux_function_propulsion_failed(ch_flag);
         break;
+#endif
 
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);

diff --git a/ArduPlane/RC_Channel.h b/ArduPlane/RC_Channel.h
@@ -31,6 +31,10 @@ class RC_Channel_Plane : public RC_Channel
 
     void do_aux_function_flare(AuxSwitchPos ch_flag);
 
+#if AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+    void do_aux_function_propulsion_failed(AuxSwitchPos ch_flag);
+#endif
+
 };
 
 class RC_Channels_Plane : public RC_Channels

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
@@ -192,6 +192,7 @@ def __init__(self,
     Feature('Plane', 'QAUTOTUNE', 'QAUTOTUNE_ENABLED', 'Enable QuadPlane Autotune mode', 0, "QUADPLANE"),
     Feature('Plane', 'PLANE_BLACKBOX', 'AP_PLANE_BLACKBOX_LOGGING', 'Enable blackbox logging', 0, None),
     Feature('Plane', 'AP_TX_TUNING', 'AP_TUNING_ENABLED', 'Enable TX-based tuning parameter adjustments', 0, None),
+    Feature('Plane', 'RC_CHANNEL_PROPULSION_FAILED', 'AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED', 'Enable RC channel for manually notifying the TECS of a propulsion failure', 0, None),  # NOQA: E501
 
     Feature('RC', 'RC_Protocol', 'AP_RCPROTOCOL_ENABLED', "Enable Serial RC Protocol support", 0, None),   # NOQA: E501
     Feature('RC', 'RC_CRSF', 'AP_RCPROTOCOL_CRSF_ENABLED', "Enable CRSF RC Protocol", 0, "RC_Protocol"),   # NOQA: E501

diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
@@ -162,6 +162,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('QAUTOTUNE_ENABLED', 'ModeQAutotune::_enter',),
             ('HAL_SOARING_ENABLED', 'SoaringController::var_info',),
             ('HAL_LANDING_DEEPSTALL_ENABLED', r'AP_Landing_Deepstall::terminate\b',),
+            ('AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED', r'RC_Channel_Plane::do_aux_function_propulsion_failed\b',),
 
             ('AP_GRIPPER_ENABLED', r'AP_Gripper::init\b',),
             ('HAL_SPRAYER_ENABLED', 'AC_Sprayer::AC_Sprayer',),

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
@@ -248,7 +248,7 @@ class RC_Channel {
         CAMERA_IMAGE_TRACKING = 174, // camera image tracking
         CAMERA_LENS =        175, // camera lens selection
         VFWD_THR_OVERRIDE =  176, // force enabled VTOL forward throttle method
-        TECS_PROP_FAILED =   177,   // tell the TECS controller that propulsion has failed
+        TECS_PROP_FAILED =   177, // tell the TECS controller that propulsion has failed
 
 
         // inputs from 200 will eventually used to replace RCMAP

diff --git a/libraries/RC_Channel/RC_Channel_config.h b/libraries/RC_Channel/RC_Channel_config.h
@@ -9,3 +9,7 @@
 #ifndef AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
 #define AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED AP_RC_CHANNEL_ENABLED
 #endif
+
+#ifndef AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED
+#define AP_RC_CHANNEL_PROPULSION_FAILED_ENABLED AP_RC_CHANNEL_ENABLED
+#endif