wip3

Hwurzburg · Oct 18, 2024 · 0e2abb2 · 0e2abb2
1 parent 3765cf6
commit 0e2abb2
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Showing 4 changed files with 28 additions and 0 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_CADDX.cpp b/libraries/AP_Mount/AP_Mount_CADDX.cpp
@@ -140,6 +140,7 @@ void AP_Mount_CADDX::send_target_angles(const MountTarget& angle_target_rad)
 
     //todo: add mode here
     cmd_set_angles_data.mode = GIMBAL_MODE_TILT_ROLL_LOCK;
+    cmd_set_angles_data.mode = mount_lock_mode;
 
     // CRC here
     uint16_t crc16 = 0;

diff --git a/libraries/AP_Mount/AP_Mount_CADDX.h b/libraries/AP_Mount/AP_Mount_CADDX.h
@@ -45,6 +45,10 @@ class AP_Mount_CADDX : public AP_Mount_Backend_Serial
 
     // has_pitch_control - returns true if this mount can control its tilt
     bool has_pitch_control() const override { return pitch_range_valid(); };
+
+    void set_mount_mode(const uint8_t mount_lock_mode);
+
+    uint8_t mount_lock_mode;
 
 
 protected:

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
@@ -242,6 +242,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter}: 178:FlightMode Pause/Resume
     // @Values{Plane}: 179:ICEngine start / stop
     // @Values{Copter, Plane}: 180:Test autotuned gains after tune is complete
+    // @values{Copter,Plane,Rover,Blimp}: 181:Mount Mode
     // @Values{Rover}: 201:Roll
     // @Values{Rover}: 202:Pitch
     // @Values{Rover}: 207:MainSail
@@ -756,6 +757,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::RETRACT_MOUNT1:
     case AUX_FUNC::RETRACT_MOUNT2:
     case AUX_FUNC::MOUNT_LOCK:
+    case AUX_FUNC::MOUNT_MODE:
 #endif
 #if HAL_LOGGING_ENABLED
     case AUX_FUNC::LOG_PAUSE:
@@ -891,6 +893,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
 #endif
 #if HAL_MOUNT_ENABLED
     { AUX_FUNC::MOUNT_LRF_ENABLE, "Mount LRF Enable"},
+    { AUX_FUNC::MOUNT_MODE, "Mount Mode"},
 #endif
 };
 
@@ -1748,6 +1751,25 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         mount->set_rangefinder_enable(0, ch_flag == AuxSwitchPos::HIGH);
         break;
     }
+
+    case AUX_FUNC::MOUNT_MODE:{
+        AP_Mount *mount = AP::mount();
+        if (mount == nullptr) {
+            break;
+        }
+        switch (ch_flag) {
+        case AuxSwitchPos::LOW:
+            // nothing
+            break;
+        case AuxSwitchPos::MIDDLE:
+            // nothing
+            break;
+        case AuxSwitchPos::HIGH:
+            //nothing
+            break;
+        }
+        break;
+      }  
 #endif
 
 #if HAL_LOGGING_ENABLED

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
@@ -260,6 +260,7 @@ class RC_Channel {
         FLIGHTMODE_PAUSE =   178,  // e.g. pause movement towards waypoint
         ICE_START_STOP =     179, // AP_ICEngine start stop
         AUTOTUNE_TEST_GAINS = 180, // auto tune tuning switch to test or revert gains
+        MOUNT_MODE          = 181, //mount operating mode
 
 
         // inputs from 200 will eventually used to replace RCMAP