Add payload power switch

Makefile

@@ -326,6 +326,7 @@ px4io_update:
 bootloaders_update: \
 	3dr_ctrl-zero-h7-oem-revg_bootloader \
 	ark_fmu-v6x_bootloader \
+	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \

boards/ark/fpv/src/board_config.h

@@ -245,7 +245,7 @@
 /* Define True logic Power Control in arch agnostic form */
 
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
-#define VDD_12V_EN(on_true)                px4_arch_gpiowrite(GPIO_VDD_12V_EN, (on_true))
+#define PAYLOAD_POWER_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_12V_EN, (on_true))
 
 /* USB OTG FS
  *

boards/ark/fpv/src/init.c

@@ -110,7 +110,7 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
 
-	VDD_12V_EN(false);
+	PAYLOAD_POWER_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 
 	/* wait for the peripheral rail to reach GND */
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 
 	/* switch the peripheral rail back on */
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_12V_EN(true);
+	PAYLOAD_POWER_EN(true);
 }
 
 /************************************************************************************
@@ -204,7 +204,7 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-	VDD_12V_EN(true);
+	PAYLOAD_POWER_EN(true);
 
 	/* Need hrt running before using the ADC */
 

msg/ManualControlSwitches.msg

@@ -29,6 +29,8 @@ uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGH
 uint8 photo_switch               # Photo trigger switch
 uint8 video_switch               # Photo trigger switch
 
+uint8 payload_power_switch       # Payload power switch
+
 uint8 engage_main_motor_switch   # Engage the main motor (for helicopters)
 
 uint32 switch_changes            # number of switch changes

msg/RcChannels.msg

@@ -28,13 +28,14 @@ uint8 FUNCTION_FLTBTN_SLOT_4 = 24
 uint8 FUNCTION_FLTBTN_SLOT_5 = 25
 uint8 FUNCTION_FLTBTN_SLOT_6 = 26
 uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
+uint8 FUNCTION_PAYLOAD_POWER = 28
 
 uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
 
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[28] function						# Functions mapping
+int8[29] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames

src/modules/manual_control/ManualControl.cpp

@@ -271,6 +271,19 @@ void ManualControl::processSwitches(hrt_abstime &now)
 					}
 				}
 
+#if defined(PAYLOAD_POWER_EN)
+
+				if (switches.payload_power_switch != _previous_switches.payload_power_switch) {
+					if (switches.payload_power_switch == manual_control_switches_s::SWITCH_POS_ON) {
+						PAYLOAD_POWER_EN(true);
+
+					} else if (switches.payload_power_switch == manual_control_switches_s::SWITCH_POS_OFF) {
+						PAYLOAD_POWER_EN(false);
+					}
+				}
+
+#endif // PAYLOAD_POWER_EN
+
 			} else if (!_armed) {
 				// Directly initialize mode using RC switch but only before arming
 				evaluateModeSlot(switches.mode_slot);

src/modules/rc_update/params.c

@@ -1762,6 +1762,35 @@ PARAM_DEFINE_INT32(RC_MAP_AUX5, 0);
  * @value 18 Channel 18
  */
 PARAM_DEFINE_INT32(RC_MAP_AUX6, 0);
+
+/**
+ * Payload Power Switch RC channel
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Switches
+ * @value 0 Unassigned
+ * @value 1 Channel 1
+ * @value 2 Channel 2
+ * @value 3 Channel 3
+ * @value 4 Channel 4
+ * @value 5 Channel 5
+ * @value 6 Channel 6
+ * @value 7 Channel 7
+ * @value 8 Channel 8
+ * @value 9 Channel 9
+ * @value 10 Channel 10
+ * @value 11 Channel 11
+ * @value 12 Channel 12
+ * @value 13 Channel 13
+ * @value 14 Channel 14
+ * @value 15 Channel 15
+ * @value 16 Channel 16
+ * @value 17 Channel 17
+ * @value 18 Channel 18
+ */
+PARAM_DEFINE_INT32(RC_MAP_PAY_SW, 0);
+
 /**
  * PARAM1 tuning channel
  *
@@ -2029,6 +2058,22 @@ PARAM_DEFINE_FLOAT(RC_GEAR_TH, 0.75f);
  */
 PARAM_DEFINE_FLOAT(RC_ENG_MOT_TH, 0.75f);
 
+/**
+ * Threshold for selecting payload power switch
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ */
+PARAM_DEFINE_FLOAT(RC_PAYLOAD_TH, 0.75f);
+
 /**
  * PWM input channel that provides RSSI.
  *

src/modules/rc_update/rc_update.cpp

@@ -57,6 +57,7 @@ static bool operator ==(const manual_control_switches_s &a, const manual_control
 		a.gear_switch == b.gear_switch &&
 		a.photo_switch == b.photo_switch &&
 		a.video_switch == b.video_switch &&
+		a.payload_power_switch == b.payload_power_switch &&
 		a.engage_main_motor_switch == b.engage_main_motor_switch);
 }
 
@@ -219,6 +220,8 @@ void RCUpdate::update_rc_functions()
 	_rc.function[rc_channels_s::FUNCTION_AUX_5] = _param_rc_map_aux5.get() - 1;
 	_rc.function[rc_channels_s::FUNCTION_AUX_6] = _param_rc_map_aux6.get() - 1;
 
+	_rc.function[rc_channels_s::FUNCTION_PAYLOAD_POWER] = _param_rc_map_payload_sw.get() - 1;
+
 	for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
 		_rc.function[rc_channels_s::FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
 	}
@@ -616,6 +619,11 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
 	switches.video_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_AUX_4, 0.5f);
 #endif
 
+#if defined(PAYLOAD_POWER_EN)
+	switches.payload_power_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_PAYLOAD_POWER,
+					_param_rc_payload_th.get());
+#endif
+
 	// last 2 switch updates identical within 1 second (simple protection from bad RC data)
 	if ((switches == _manual_switches_previous)
 	    && (switches.timestamp_sample < _manual_switches_previous.timestamp_sample + VALID_DATA_MIN_INTERVAL_US)) {

src/modules/rc_update/rc_update.h

@@ -230,6 +230,8 @@ class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::W
 
 		(ParamInt<px4::params::RC_FAILS_THR>) _param_rc_fails_thr,
 
+		(ParamInt<px4::params::RC_MAP_PAY_SW>) _param_rc_map_payload_sw,
+
 		(ParamFloat<px4::params::RC_LOITER_TH>) _param_rc_loiter_th,
 		(ParamFloat<px4::params::RC_OFFB_TH>) _param_rc_offb_th,
 		(ParamFloat<px4::params::RC_KILLSWITCH_TH>) _param_rc_killswitch_th,
@@ -238,6 +240,7 @@ class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::W
 		(ParamFloat<px4::params::RC_GEAR_TH>) _param_rc_gear_th,
 		(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
 		(ParamFloat<px4::params::RC_ENG_MOT_TH>) _param_rc_eng_mot_th,
+		(ParamFloat<px4::params::RC_PAYLOAD_TH>) _param_rc_payload_th,
 
 		(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt
 	)