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added channel options to kill GPS in flight #84

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tridge wants to merge 2 commits into from
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added channel options to kill GPS in flight #84

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344d605
AP_GPS: added ability to kill a GPS
tridge Aug 27, 2019
8061649
Copter: added channel options for GPS kill
tridge Aug 27, 2019
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2 changes: 2 additions & 0 deletions ArduCopter/defines.h
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Original file line number Diff line number Diff line change
Expand Up @@ -78,6 +78,8 @@ enum aux_sw_func {
AUXSW_USER_FUNC1 = 47, // user function #1
AUXSW_USER_FUNC2 = 48, // user function #2
AUXSW_USER_FUNC3 = 49, // user function #3
AUXSW_GPS1_DISABLE = 90, // kill GPS1
AUXSW_GPS2_DISABLE = 91, // kill GPS2
AUXSW_SWITCH_MAX,
};

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10 changes: 10 additions & 0 deletions ArduCopter/switches.cpp
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Expand Up @@ -235,6 +235,8 @@ void Copter::init_aux_switch_function(int8_t ch_option, uint8_t ch_flag)
case AUXSW_INVERTED:
case AUXSW_WINCH_ENABLE:
case AUXSW_RC_OVERRIDE_ENABLE:
case AUXSW_GPS1_DISABLE:
case AUXSW_GPS2_DISABLE:
do_aux_switch_function(ch_option, ch_flag);
break;
}
Expand Down Expand Up @@ -775,6 +777,14 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
userhook_auxSwitch3(ch_flag);
break;
#endif

case AUXSW_GPS1_DISABLE:
gps.force_disable(0, ch_flag==AUX_SWITCH_HIGH);
break;

case AUXSW_GPS2_DISABLE:
gps.force_disable(1, ch_flag==AUX_SWITCH_HIGH);
break;
}
}

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13 changes: 13 additions & 0 deletions libraries/AP_GPS/AP_GPS.h
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Expand Up @@ -188,6 +188,9 @@ class AP_GPS

/// Query GPS status
GPS_Status status(uint8_t instance) const {
if ((1U<<instance) & disable_mask) {
return NO_FIX;
}
return state[instance].status;
}
GPS_Status status(void) const {
Expand Down Expand Up @@ -423,6 +426,14 @@ class AP_GPS
return get_pre_arm_pos_change(primary_instance, pos_change, alt_change);
}

void force_disable(uint8_t instance, bool disable) {
if (disable) {
disable_mask |= (1U<<instance);
} else {
disable_mask &= ~(1U<<instance);
}
}

protected:

// configuration parameters
Expand Down Expand Up @@ -481,6 +492,8 @@ class AP_GPS
// which ports are locked
uint8_t locked_ports:2;

uint8_t disable_mask;

// state of auto-detection process, per instance
struct detect_state {
uint32_t last_baud_change_ms;
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