Plane: Add extended flight modes (increase total to 12)

Adds extra 6 flight modes, enabled via a parameter, which brings the total of selectable flight modes to 12. Only available in Plane.

ArduCopter/RC_Channel.cpp

@@ -14,6 +14,12 @@ int8_t RC_Channels_Copter::flight_mode_channel_number() const
     return copter.g.flight_mode_chan.get();
 }
 
+bool RC_Channels_Copter::is_extended_flight_modes_enabled() const
+{
+    // This is only used in Plane for now, so return false always
+    return false;
+}
+
 void RC_Channel_Copter::mode_switch_changed(modeswitch_pos_t new_pos)
 {
     if (new_pos < 0 || (uint8_t)new_pos > copter.num_flight_modes) {

ArduCopter/RC_Channel.h

@@ -50,4 +50,6 @@ class RC_Channels_Copter : public RC_Channels
 
     int8_t flight_mode_channel_number() const override;
 
+    // This must be defined/overridden in every calss that inherits from RC_Channels
+    bool is_extended_flight_modes_enabled() const override;
 };

ArduPlane/Parameters.cpp

@@ -505,13 +505,57 @@ const AP_Param::Info Plane::var_info[] = {
     // @Description: Flight mode for switch position 6 (1750 to 2049)
     GSCALAR(flight_mode6,           "FLTMODE6",       FLIGHT_MODE_6),
 
+    // @Param: FLTMODE7
+    // @DisplayName: FlightMode7
+    // @Description: Flight mode for switch position 7
+    // @Values: 0:Manual,1:CIRCLE,2:STABILIZE,3:TRAINING,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,10:Auto,11:RTL,12:Loiter,13:TAKEOFF,14:AVOID_ADSB,15:Guided,17:QSTABILIZE,18:QHOVER,19:QLOITER,20:QLAND,21:QRTL,22:QAUTOTUNE,23:QACRO,24:THERMAL,25:Loiter to QLand
+    // @User: Advanced
+    GSCALAR(flight_mode7,           "FLTMODE7",       FLIGHT_MODE_7),
+
+    // @Param: FLTMODE8
+    // @CopyFieldsFrom: FLTMODE7
+    // @DisplayName: FlightMode8
+    // @Description: Flight mode for switch position 8
+    GSCALAR(flight_mode8,           "FLTMODE8",       FLIGHT_MODE_8),
+
+    // @Param: FLTMODE9
+    // @CopyFieldsFrom: FLTMODE7
+    // @DisplayName: FlightMode9
+    // @Description: Flight mode for switch position 9
+    GSCALAR(flight_mode9,           "FLTMODE9",       FLIGHT_MODE_9),
+
+    // @Param: FLTMODE10
+    // @CopyFieldsFrom: FLTMODE7
+    // @DisplayName: FlightMode10
+    // @Description: Flight mode for switch position 10
+    GSCALAR(flight_mode10,           "FLTMODE10",       FLIGHT_MODE_10),
+
+    // @Param: FLTMODE11
+    // @CopyFieldsFrom: FLTMODE7
+    // @DisplayName: FlightMode11
+    // @Description: Flight mode for switch position 11
+    GSCALAR(flight_mode11,           "FLTMODE11",       FLIGHT_MODE_11),
+
+    // @Param: FLTMODE12
+    // @CopyFieldsFrom: FLTMODE7
+    // @DisplayName: FlightMode12
+    // @Description: Flight mode for switch position 12
+    GSCALAR(flight_mode12,           "FLTMODE12",       FLIGHT_MODE_12),
+
     // @Param: INITIAL_MODE
     // @DisplayName: Initial flight mode
     // @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
     // @CopyValuesFrom: FLTMODE1
     // @User: Advanced
     GSCALAR(initial_mode,        "INITIAL_MODE",     Mode::Number::MANUAL),
 
+    // @Param: FLTMODE_EXT
+    // @DisplayName: Extended flight modes
+    // @Description: Enables the extra 6 flight modes, bringing the extended total to 12
+    // @Values: 0:Disabled,1:Enabled
+    // @User: Advanced
+    GSCALAR(flight_modes_extended, "FLTMODE_EXT",     0),
+
     // @Param: ROLL_LIMIT_DEG
     // @DisplayName: Maximum Bank Angle
     // @Description: Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.

ArduPlane/Parameters.h

@@ -357,6 +357,15 @@ class Parameters {
         k_param_acro_yaw_rate,
         k_param_takeoff_throttle_max_t,
         k_param_autotune_options,
+
+        // Extended flight modes
+        k_param_flight_mode7,
+        k_param_flight_mode8,
+        k_param_flight_mode9,
+        k_param_flight_mode10,
+        k_param_flight_mode11,
+        k_param_flight_mode12,
+        k_param_flight_modes_extended,
     };
 
     AP_Int16 format_version;
@@ -419,7 +428,14 @@ class Parameters {
     AP_Int8 flight_mode4;
     AP_Int8 flight_mode5;
     AP_Int8 flight_mode6;
+    AP_Int8 flight_mode7;
+    AP_Int8 flight_mode8;
+    AP_Int8 flight_mode9;
+    AP_Int8 flight_mode10;
+    AP_Int8 flight_mode11;
+    AP_Int8 flight_mode12;
     AP_Int8 initial_mode;
+    AP_Int8 flight_modes_extended;
 
     // Navigational manoeuvring limits
     //

ArduPlane/Plane.h

@@ -209,6 +209,7 @@ class Plane : public AP_Vehicle {
     // flight modes convenience array
     AP_Int8 *flight_modes = &g.flight_mode1;
     const uint8_t num_flight_modes = 6;
+    const uint8_t num_ext_flight_modes = 12;
 
     AP_FixedWing::Rangefinder_State rangefinder_state;
 

ArduPlane/RC_Channel.cpp

@@ -16,6 +16,11 @@ int8_t RC_Channels_Plane::flight_mode_channel_number() const
     return plane.g.flight_mode_channel.get();
 }
 
+bool RC_Channels_Plane::is_extended_flight_modes_enabled() const
+{
+    return (plane.g.flight_modes_extended.get() == 1);
+}
+
 bool RC_Channels_Plane::in_rc_failsafe() const
 {
     return (plane.rc_failsafe_active() || plane.failsafe.rc_failsafe);

ArduPlane/RC_Channel.h

@@ -57,4 +57,5 @@ class RC_Channels_Plane : public RC_Channels
     // note that these callbacks are not presently used on Plane:
     int8_t flight_mode_channel_number() const override;
 
+    bool is_extended_flight_modes_enabled() const override;
 };

ArduPlane/config.h

@@ -74,6 +74,24 @@
 #if !defined(FLIGHT_MODE_6)
  # define FLIGHT_MODE_6                  Mode::Number::MANUAL
 #endif
+#if !defined(FLIGHT_MODE_7)
+ # define FLIGHT_MODE_7                  Mode::Number::FLY_BY_WIRE_A
+#endif
+#if !defined(FLIGHT_MODE_8)
+ # define FLIGHT_MODE_8                  Mode::Number::FLY_BY_WIRE_A
+#endif
+#if !defined(FLIGHT_MODE_9)
+ # define FLIGHT_MODE_9                  Mode::Number::FLY_BY_WIRE_A
+#endif
+#if !defined(FLIGHT_MODE_10)
+ # define FLIGHT_MODE_10                  Mode::Number::FLY_BY_WIRE_A
+#endif
+#if !defined(FLIGHT_MODE_11)
+ # define FLIGHT_MODE_11                  Mode::Number::FLY_BY_WIRE_A
+#endif
+#if !defined(FLIGHT_MODE_12)
+ # define FLIGHT_MODE_12                  Mode::Number::FLY_BY_WIRE_A
+#endif
 
 
 //////////////////////////////////////////////////////////////////////////////

ArduPlane/control_modes.cpp

@@ -109,7 +109,11 @@ void RC_Channels_Plane::read_mode_switch()
 
 void RC_Channel_Plane::mode_switch_changed(modeswitch_pos_t new_pos)
 {
-    if (new_pos < 0 || (uint8_t)new_pos > plane.num_flight_modes) {
+    uint8_t max_number_of_modes =
+        plane.g.flight_modes_extended.get() == 1 ? 
+        plane.num_ext_flight_modes : plane.num_flight_modes;
+
+    if (new_pos < 0 || (uint8_t)new_pos > (max_number_of_modes - 1)) {
         // should not have been called
         return;
     }

libraries/RC_Channel/RC_Channel.cpp

@@ -580,10 +580,38 @@ bool RC_Channel::read_6pos_switch(int8_t& position)
     return true;
 }
 
-void RC_Channel::read_mode_switch()
+// read a mode switch in extended mode (up to 12 positions, for now)
+bool RC_Channel::read_extended_mode_switch(int8_t& position)
+{
+    // calculate position of 12 pos switch
+    const uint16_t pulsewidth = get_radio_in();
+    if (pulsewidth <= RC_MIN_LIMIT_PWM || pulsewidth >= RC_MAX_LIMIT_PWM) {
+        return false;  // This is an error condition
+    }
+
+    // Determine the total pulse width range amd step for each position  
+    const int16_t pulsestep = (get_radio_max() - get_radio_min()) / 12U;    // Assuming 12 max positions
+
+    position = (pulsewidth - get_radio_min()) / pulsestep;
+
+    if (!debounce_completed(position)) {
+        return false;
+    }
+
+    return true;
+}
+
+void RC_Channel::read_mode_switch(bool extended)
 {
     int8_t position;
-    if (read_6pos_switch(position)) {
+    bool changed = false;
+    if(extended) {
+        changed = read_extended_mode_switch(position);
+    } else {
+        changed = read_6pos_switch(position);
+    }
+
+    if (changed) {
         // set flight mode and simple mode setting
         mode_switch_changed(modeswitch_pos_t(position));
     }

libraries/RC_Channel/RC_Channel.h

@@ -402,6 +402,7 @@ class RC_Channel {
 
     bool read_3pos_switch(AuxSwitchPos &ret) const WARN_IF_UNUSED;
     bool read_6pos_switch(int8_t& position) WARN_IF_UNUSED;
+    bool read_extended_mode_switch(int8_t &position) WARN_IF_UNUSED;
 
     // Structure used to detect and debounce switch changes
     struct {
@@ -411,7 +412,7 @@ class RC_Channel {
     } switch_state;
 
     void reset_mode_switch();
-    void read_mode_switch();
+    void read_mode_switch(bool extended = false);
     bool debounce_completed(int8_t position);
 
 #if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
@@ -493,7 +494,7 @@ class RC_Channels {
 
     // mode switch handling
     void reset_mode_switch();
-    virtual void read_mode_switch();
+    virtual void read_mode_switch();    
 
     virtual bool in_rc_failsafe() const { return true; };
     virtual bool has_valid_input() const { return false; };
@@ -581,6 +582,9 @@ class RC_Channels {
     // flight_mode_channel_number must be overridden in vehicle specific code
     virtual int8_t flight_mode_channel_number() const = 0;
 
+    // is_extended_flight_modes_enabled must be overridden in vehicle specific code
+    virtual bool is_extended_flight_modes_enabled() const = 0;
+
     // set and get calibrating flag, stops arming if true
     void calibrating(bool b) { gcs_is_calibrating = b; }
     bool calibrating() { return gcs_is_calibrating; }

libraries/RC_Channel/RC_Channels.cpp

@@ -222,8 +222,8 @@ void RC_Channels::read_mode_switch()
     RC_Channel *c = flight_mode_channel();
     if (c == nullptr) {
         return;
-    }
-    c->read_mode_switch();
+    }    
+    c->read_mode_switch(is_extended_flight_modes_enabled());    
 }
 
 // check if flight mode channel is assigned RC option