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Add RC option for flightmode pause/resume #26748

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merged 2 commits into from
Apr 11, 2024
Merged

Add RC option for flightmode pause/resume #26748

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91c06b9
RC_Channel: add option to flight mode pause/resume via aux function
peterbarker Apr 10, 2024
60788fb
ArduCopter: add option to flight mode pause/resume via aux function
peterbarker Apr 10, 2024
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16 changes: 16 additions & 0 deletions ArduCopter/RC_Channel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,7 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
case AUX_FUNC::SIMPLE_HEADING_RESET:
case AUX_FUNC::ARMDISARM_AIRMODE:
case AUX_FUNC::TURBINE_START:
case AUX_FUNC::FLIGHTMODE_PAUSE:
break;
case AUX_FUNC::ACRO_TRAINER:
case AUX_FUNC::ATTCON_ACCEL_LIM:
Expand Down Expand Up @@ -566,6 +567,21 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
}
break;

case AUX_FUNC::FLIGHTMODE_PAUSE:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
if (!copter.flightmode->pause()) {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Flight Mode Pause failed");
}
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
copter.flightmode->resume();
break;
}
break;

case AUX_FUNC::ZIGZAG_Auto:
#if MODE_ZIGZAG_ENABLED == ENABLED
if (copter.flightmode == &copter.mode_zigzag) {
Expand Down
1 change: 1 addition & 0 deletions libraries/RC_Channel/RC_Channel.cpp
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Expand Up @@ -237,6 +237,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Values{Copter, Rover, Plane, Blimp}: 175:Camera Lens
// @Values{Plane}: 176:Quadplane Fwd Throttle Override enable
// @Values{Copter, Rover, Plane, Blimp}: 177:Mount LRF enable
// @Values{Copter}: 178:FlightMode Pause/Resume
// @Values{Rover}: 201:Roll
// @Values{Rover}: 202:Pitch
// @Values{Rover}: 207:MainSail
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1 change: 1 addition & 0 deletions libraries/RC_Channel/RC_Channel.h
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Expand Up @@ -250,6 +250,7 @@ class RC_Channel {
CAMERA_LENS = 175, // camera lens selection
VFWD_THR_OVERRIDE = 176, // force enabled VTOL forward throttle method
MOUNT_LRF_ENABLE = 177, // mount LRF enable/disable
FLIGHTMODE_PAUSE = 178, // e.g. pause movement towards waypoint


// inputs from 200 will eventually used to replace RCMAP
Expand Down
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