Merge pull request #1490 from DonLakeFlyer/FlightModes

Return and Offboard must be on separate channel

src/AutoPilotPlugins/PX4/FlightModesComponentController.cc

@@ -82,8 +82,8 @@ void FlightModesComponentController::_validateConfiguration(void)
     QStringList switchParams, switchNames;
     QList<int> switchMappings;
     
-    switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW";
-    switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch";
+    switchParams << "RC_MAP_MODE_SW" << "RC_MAP_RETURN_SW" << "RC_MAP_LOITER_SW" << "RC_MAP_POSCTL_SW" << "RC_MAP_OFFB_SW";
+    switchNames << "Mode Switch" << "Return Switch" << "Loiter Switch" << "PosCtl Switch" << "Offboard Switch";
     
     for(int i=0; i<switchParams.count(); i++) {
         int map = _autoPilotPlugin->getParameterFact(switchParams[i])->value().toInt();
@@ -95,12 +95,12 @@ void FlightModesComponentController::_validateConfiguration(void)
         }
     }
     
-    // Make sure switches are not mapped to attitude control channels
+    // Make sure switches are not double-mapped
     
     QStringList attitudeParams, attitudeNames;
     
-    attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2";
-    attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2";
+    attitudeParams << "RC_MAP_THROTTLE" << "RC_MAP_YAW" << "RC_MAP_PITCH" << "RC_MAP_ROLL" << "RC_MAP_FLAPS" << "RC_MAP_AUX1" << "RC_MAP_AUX2" << "RC_MAP_ACRO_SW";
+    attitudeNames << "Throttle" << "Yaw" << "Pitch" << "Roll" << "Flaps" << "Aux1" << "Aux2" << "Acro";
 
     for (int i=0; i<attitudeParams.count(); i++) {
         int map = _autoPilotPlugin->getParameterFact(attitudeParams[i])->value().toInt();
@@ -112,6 +112,24 @@ void FlightModesComponentController::_validateConfiguration(void)
             }
         }
     }
+    
+    // Check for switches that must be on their own channel
+    
+    QStringList singleSwitchParams, singleSwitchNames;
+    
+    singleSwitchParams << "RC_MAP_RETURN_SW" << "RC_MAP_OFFB_SW";
+    singleSwitchNames << "Return Switch" << "Offboard Switch";
+    
+    for (int i=0; i<singleSwitchParams.count(); i++) {
+        int map = _autoPilotPlugin->getParameterFact(singleSwitchParams[i])->value().toInt();
+        
+        for (int j=0; j<switchParams.count(); j++) {
+            if (map != 0 && singleSwitchParams[i] != switchParams[j] && map == switchMappings[j]) {
+                _validConfiguration = false;
+                _configurationErrors += QString("%1 must be on seperate channel, but is set to same channel as %2.\n").arg(singleSwitchNames[i]).arg(switchParams[j]);
+            }
+        }
+    }
 }
 
 void FlightModesComponentController::setSendLiveRCSwitchRanges(bool start)
@@ -190,6 +208,11 @@ double FlightModesComponentController::returnSwitchLiveRange(void)
     return _switchLiveRange("RC_MAP_RETURN_SW");
 }
 
+double FlightModesComponentController::offboardSwitchLiveRange(void)
+{
+    return _switchLiveRange("RC_MAP_OFFB_SW");
+}
+
 double FlightModesComponentController::loiterSwitchLiveRange(void)
 {
     return _switchLiveRange("RC_MAP_LOITER_SW");

src/AutoPilotPlugins/PX4/FlightModesComponentController.h

@@ -49,16 +49,18 @@ public:
     Q_PROPERTY(int channelCount MEMBER _channelCount CONSTANT)
     
     Q_PROPERTY(double modeSwitchLiveRange READ modeSwitchLiveRange NOTIFY switchLiveRangeChanged)
-    Q_PROPERTY(double returnSwitchLiveRange READ returnSwitchLiveRange NOTIFY switchLiveRangeChanged)
     Q_PROPERTY(double loiterSwitchLiveRange READ loiterSwitchLiveRange NOTIFY switchLiveRangeChanged)
     Q_PROPERTY(double posCtlSwitchLiveRange READ posCtlSwitchLiveRange NOTIFY switchLiveRangeChanged)
+    Q_PROPERTY(double returnSwitchLiveRange READ returnSwitchLiveRange NOTIFY switchLiveRangeChanged)
+    Q_PROPERTY(double offboardSwitchLiveRange READ offboardSwitchLiveRange NOTIFY switchLiveRangeChanged)
     
     Q_PROPERTY(bool sendLiveRCSwitchRanges READ sendLiveRCSwitchRanges WRITE setSendLiveRCSwitchRanges NOTIFY liveRCSwitchRangesChanged)
     
     double modeSwitchLiveRange(void);
-    double returnSwitchLiveRange(void);
     double loiterSwitchLiveRange(void);
     double posCtlSwitchLiveRange(void);
+    double returnSwitchLiveRange(void);
+    double offboardSwitchLiveRange(void);
     
     bool sendLiveRCSwitchRanges(void) { return _liveRCValues; }
     void setSendLiveRCSwitchRanges(bool start);