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Rover: add reverse rc option #27427

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Rover: add reverse rc option #27427

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6929fd5
Rover: add reverse to do_aux_function method
robot-to-society Jul 1, 2024
88dd55a
RC_Channel: add REVERSE aux func for rover
robot-to-society Jul 1, 2024
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16 changes: 16 additions & 0 deletions Rover/RC_Channel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,7 @@ void RC_Channel_Rover::init_aux_function(const AUX_FUNC ch_option, const AuxSwit
case AUX_FUNC::SMART_RTL:
case AUX_FUNC::STEERING:
case AUX_FUNC::WIND_VANE_DIR_OFSSET:
case AUX_FUNC::REVERSE:
break;
case AUX_FUNC::SAILBOAT_MOTOR_3POS:
do_aux_function_sailboat_motor_3pos(ch_flag);
Expand Down Expand Up @@ -251,6 +252,21 @@ bool RC_Channel_Rover::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
gcs().send_text(MAV_SEVERITY_CRITICAL, "Steering trim saved!");
}
break;

// rover reverse switching
case AUX_FUNC::REVERSE:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
rover.g2.wp_nav.set_reversed(true);
break;
case AuxSwitchPos::MIDDLE:
// do nothing
break;
case AuxSwitchPos::LOW:
rover.g2.wp_nav.set_reversed(false);
break;
}
break;

// manual input, nothing to do
case AUX_FUNC::MAINSAIL:
Expand Down
1 change: 1 addition & 0 deletions libraries/RC_Channel/RC_Channel.cpp
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Expand Up @@ -238,6 +238,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Values{Plane}: 176:Quadplane Fwd Throttle Override enable
// @Values{Copter, Rover, Plane, Blimp}: 177:Mount LRF enable
// @Values{Copter}: 178:FlightMode Pause/Resume
// @Values{Rover}: 179: Reverse
// @Values{Rover}: 201:Roll
// @Values{Rover}: 202:Pitch
// @Values{Rover}: 207:MainSail
Expand Down
6 changes: 3 additions & 3 deletions libraries/RC_Channel/RC_Channel.h
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Expand Up @@ -249,9 +249,9 @@ class RC_Channel {
CAMERA_IMAGE_TRACKING = 174, // camera image tracking
CAMERA_LENS = 175, // camera lens selection
VFWD_THR_OVERRIDE = 176, // force enabled VTOL forward throttle method
MOUNT_LRF_ENABLE = 177, // mount LRF enable/disable
FLIGHTMODE_PAUSE = 178, // e.g. pause movement towards waypoint

MOUNT_LRF_ENABLE = 177, // mount LRF enable/disable
FLIGHTMODE_PAUSE = 178, // e.g. pause movement towards waypoint
REVERSE = 179, // rover reverse

// inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input
Expand Down
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