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Handle rc toggle mode buttons to initialize flight modes

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2021-08-16 11:19:20 +02:00 committed by Matthias Grob
parent c50daae4a3
commit 05d40f40d4
3 changed files with 12 additions and 3 deletions
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2
src/modules/commander/Commander.cpp
View File

@ -2428,7 +2428,7 @@ Commander::run()
}
}
if (!_armed.armed && _manual_control.isMavlink() && (_internal_state.main_state_changes == 0)) {
if (!_armed.armed && _manual_control.isModeInitializationRequired() && (_internal_state.main_state_changes == 0)) {
// if there's never been a mode change force position control as initial state
_internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
}

8
src/modules/commander/ManualControl.cpp
View File

@ -177,6 +177,14 @@ bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode,
return ret;
}
bool ManualControl::isModeInitializationRequired()
{
const bool isMavlink = _manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC;
const bool rc_uses_toggle_buttons = !isMavlink && _param_rc_map_flightmode_buttons.get() > 0;
return (isMavlink || rc_uses_toggle_buttons);
}
void ManualControl::updateParams()
{
ModuleParams::updateParams();

5
src/modules/commander/ManualControl.hpp
View File

@ -64,12 +64,12 @@ public:
*/
bool update();
bool isRCAvailable() const { return _rc_available; }
bool isMavlink() const { return _manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC; }
bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status);
bool wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
manual_control_switches_s &manual_control_switches, const bool landed);
bool wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
const manual_control_switches_s &manual_control_switches, const bool landed);
bool isModeInitializationRequired();
bool isThrottleLow() const { return _last_manual_control_setpoint.z < 0.1f; }
bool isThrottleAboveCenter() const { return _last_manual_control_setpoint.z > 0.6f; }
hrt_abstime getLastRcTimestamp() const { return _last_manual_control_setpoint.timestamp; }
@ -96,6 +96,7 @@ private:
(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_com_arm_swisbtn,
(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_flightmode_buttons
)
};