fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-03 00:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

helicopter: add switch to engage main motor

Browse Source 
For helicopters it's useful (e.g. during bringup) to be able to disable
the main rotor while the tail is still controlled to safely land.
This commit is contained in:
Beat Küng
2022-08-16 17:32:57 +02:00
parent f32d931117
commit 7e75b497ae
7 changed files with 70 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rc_update/rc_update.cpp
+6 -2
View File
@@ -56,7 +56,8 @@ static bool operator ==(const manual_control_switches_s &a, const manual_control
a.transition_switch == b.transition_switch &&
a.gear_switch == b.gear_switch &&
a.photo_switch == b.photo_switch &&
a.video_switch == b.video_switch);
a.video_switch == b.video_switch &&
a.engage_main_motor_switch == b.engage_main_motor_switch);
}
static bool operator !=(const manual_control_switches_s &a, const manual_control_switches_s &b) { return !(a == b); }
@@ -231,6 +232,8 @@ void RCUpdate::update_rc_functions()
_rc.function[rc_channels_s::FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
_rc.function[rc_channels_s::FUNCTION_ENGAGE_MAIN_MOTOR] = _param_rc_map_eng_mot.get() - 1;
map_flight_modes_buttons();
}
@@ -643,7 +646,8 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.arm_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ARMSWITCH, _param_rc_armswitch_th.get());
switches.transition_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_TRANSITION, _param_rc_trans_th.get());
switches.gear_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_GEAR, _param_rc_gear_th.get());
switches.engage_main_motor_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_ENGAGE_MAIN_MOTOR,
_param_rc_eng_mot_th.get());
#if defined(ATL_MANTIS_RC_INPUT_HACKS)
switches.photo_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_3, 0.5f);
switches.video_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_AUX_4, 0.5f);