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Extend UAVCAN light control

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Adds automatic control of more light types via UAVCAN. Publishes
commands for beacon, strobe, nav, and landings lights. Each is
automatically controlled based on arming state and this behavior is
configurable per light type via params. For example, nav lights can be
set to be always on while beacons turn on when the system is prearmed
and strobes turn on only when armed.
This commit is contained in:
Avionics Anonymous
2020-11-02 23:29:50 +01:00
committed by Lorenz Meier
parent 67a0e1993a
commit cc96468fad
3 changed files with 191 additions and 1 deletions
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src/drivers/uavcan/uavcan_params.c
+88
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@@ -105,3 +105,91 @@ PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);
* @group UAVCAN
*/
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);
/**
* UAVCAN ANTI_COLLISION light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the ANTI_COLLISION lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_ANTCL, 2);
/**
* UAVCAN STROBE light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the STROBE lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_STROB, 1);
/**
* UAVCAN RIGHT_OF_WAY light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the RIGHT_OF_WAY lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);
/**
* UAVCAN LIGHT_ID_LANDING light operating mode
*
* This parameter defines the minimum condition under which the system will command
* the LIGHT_ID_LANDING lights on
*
* 0 - Always off
* 1 - When autopilot is armed
* 2 - When autopilot is prearmed
* 3 - Always on
*
* @min 0
* @max 3
* @value 0 Always off
* @value 1 When autopilot is armed
* @value 2 When autopilot is prearmed
* @value 3 Always on
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);