RC_Channel: add KILL_MAG auxiliary functions

ArduPilot · Jul 3, 2024 · f4ff438 · f4ff438
1 parent 6c91b76
commit f4ff438
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diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
@@ -688,6 +688,11 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     case AUX_FUNC::KILL_IMU1:
     case AUX_FUNC::KILL_IMU2:
     case AUX_FUNC::KILL_IMU3:
+#endif
+#if AP_COMPASS_KILL_MAG_ENABLED
+    case AUX_FUNC::KILL_MAG1:
+    case AUX_FUNC::KILL_MAG2:
+    case AUX_FUNC::KILL_MAG3:
 #endif
     case AUX_FUNC::MISSION_RESET:
     case AUX_FUNC::MOTOR_ESTOP:
@@ -1524,6 +1529,20 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         break;
 #endif  // AP_INERTIALSENSOR_KILL_IMU_ENABLED
 
+#if AP_COMPASS_KILL_MAG_ENABLED
+    case AUX_FUNC::KILL_MAG1:
+        AP::compass().kill_mag(0, ch_flag == AuxSwitchPos::HIGH);
+        break;
+
+    case AUX_FUNC::KILL_MAG2:
+        AP::compass().kill_mag(1, ch_flag == AuxSwitchPos::HIGH);
+        break;
+
+    case AUX_FUNC::KILL_MAG3:
+        AP::compass().kill_mag(2, ch_flag == AuxSwitchPos::HIGH);
+        break;
+#endif  // AP_COMPASS_KILL_MAG_ENABLED
+
 #if AP_CAMERA_ENABLED
     case AUX_FUNC::CAMERA_TRIGGER:
         do_aux_function_camera_trigger(ch_flag);

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
@@ -217,6 +217,9 @@ class RC_Channel {
         KILL_IMU3 =          110, // disable third IMU (for IMU failure testing)
         LOWEHEISER_STARTER = 111,  // allows for manually running starter
         AHRS_TYPE =          112, // change AHRS_EKF_TYPE
+        KILL_MAG1 =          113, // disable first magnetometer (for magnetometer failure testing)
+        KILL_MAG2 =          114, // disable second magnetometer (for magnetometer failure testing)
+        KILL_MAG3 =          115, // disable third magnetometer (for magnetometer failure testing)
 
         // if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
         // also, if you add an option >255, you will need to fix duplicate_options_exist