// init_aux_switch_function - initialize aux functions
void RC_Channel::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{
// init channel options
switch(ch_option) {
case RC_OVERRIDE_ENABLE:
case AVOID_PROXIMITY:
do_aux_function(ch_option, ch_flag);
break;
// the following functions to not need to be initialised:
case RELAY:
case RELAY2:
case RELAY3:
case RELAY4:
case RELAY5:
case RELAY6:
case CAMERA_TRIGGER:
case LOST_VEHICLE_SOUND:
case DO_NOTHING:
case CLEAR_WP:
case COMPASS_LEARN:
case LANDING_GEAR:
break;
case GRIPPER:
case SPRAYER:
case GPS_DISABLE:
do_aux_function(ch_option, ch_flag);
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Failed to initialise RC function (%u)", ch_option);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("RC function (%u) initialisation not handled", ch_option);
#endif
break;
}
}
void RC_Channel::read_aux()
{
const aux_func_t _option = (aux_func_t)option.get();
if (_option == DO_NOTHING) {
// may wish to add special cases for other "AUXSW" things
// here e.g. RCMAP_ROLL etc once they become options
return;
}
const aux_switch_pos_t new_position = read_3pos_switch();
const aux_switch_pos_t old_position = old_switch_position();
if (new_position == old_position) {
debounce.count = 0;
return;
}
if (debounce.new_position != new_position) {
debounce.new_position = new_position;
debounce.count = 0;
}
// a value of 2 means we need 3 values in a row with the same
// value to activate
if (debounce.count++ < 2) {
return;
}
// debounced; undertake the action:
do_aux_function(_option, new_position);
set_old_switch_position(new_position);
}
// init_aux_switch_function - initialize aux functions
void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
{
// init channel options
switch(ch_option) {
case SIMPLE_MODE:
case RANGEFINDER:
case FENCE:
case SUPERSIMPLE_MODE:
case ACRO_TRAINER:
case PARACHUTE_ENABLE:
case PARACHUTE_3POS: // we trust the vehicle will be disarmed so even if switch is in release position the chute will not release
case RETRACT_MOUNT:
case MISSION_RESET:
case ATTCON_FEEDFWD:
case ATTCON_ACCEL_LIM:
case MOTOR_ESTOP:
case MOTOR_INTERLOCK:
case AVOID_ADSB:
case PRECISION_LOITER:
case INVERTED:
case WINCH_ENABLE:
do_aux_function(ch_option, ch_flag);
break;
// the following functions do not need to be initialised:
case FLIP:
case RTL:
case SAVE_TRIM:
case SAVE_WP:
case RESETTOARMEDYAW:
case AUTO:
case AUTOTUNE:
case LAND:
case BRAKE:
case THROW:
case SMART_RTL:
case GUIDED:
case PARACHUTE_RELEASE:
case ARMDISARM:
case WINCH_CONTROL:
case USER_FUNC1:
case USER_FUNC2:
case USER_FUNC3:
case ZIGZAG:
case ZIGZAG_SaveWP:
break;
default:
RC_Channel::init_aux_function(ch_option, ch_flag);
break;
}
}