fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 13:54:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix style

Browse Source
This commit is contained in:
Julian Oes 2021-04-15 16:05:12 +02:00 committed by Matthias Grob
parent 71d6aa913d
commit 08e58a44e9
5 changed files with 17 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/commander/Commander.cpp
View File

@ -973,6 +973,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else {
if (cmd_from_manual_stick) {
arming_res = arm(arm_disarm_reason_t::rc_stick, !forced);
} else {
arming_res = arm(arm_disarm_reason_t::command_internal, !forced);
}
@ -985,6 +986,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} else {
if (cmd_from_manual_stick) {
arming_res = disarm(arm_disarm_reason_t::rc_stick);
} else {
arming_res = disarm(arm_disarm_reason_t::command_internal);
}

3
src/modules/commander/ManualControl.cpp
View File

@ -66,7 +66,8 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_
const bool override_auto_mode = (_param_rc_override.get() & static_cast<int32_t>(OverrideBits::OVERRIDE_AUTO_MODE_BIT))
&& vehicle_control_mode.flag_control_auto_enabled;
const bool override_offboard_mode = (_param_rc_override.get() & static_cast<int32_t>(OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT))
const bool override_offboard_mode = (_param_rc_override.get() & static_cast<int32_t>
(OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT))
&& vehicle_control_mode.flag_control_offboard_enabled;
// in Descend manual override is enbaled independently of COM_RC_OVERRIDE

4
src/modules/manual_control/ManualControl.cpp
View File

@ -163,6 +163,7 @@ void ManualControl::Run()
if (switches.arm_switch != _previous_switches.arm_switch) {
if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_arm_command();
} else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) {
send_disarm_command();
}
@ -173,8 +174,10 @@ void ManualControl::Run()
send_rtl_command();
}
}
// TODO: handle the rest of the buttons
}
_previous_switches = switches;
_previous_switches_initialized = true;
@ -198,6 +201,7 @@ void ManualControl::Run()
} else {
_last_selected_input = -1;
if (!_published_invalid_once) {
_published_invalid_once = true;
_manual_control_setpoint_pub.publish(_selector.setpoint());

12
src/modules/manual_control/ManualControlSelector.cpp
View File

@ -59,11 +59,11 @@ void ManualControlSelector::update_manual_control_input(uint64_t now, const manu
_instance = instance;
} else if (_rc_in_mode == 1 && (input.data_source == manual_control_input_s::SOURCE_MAVLINK_0
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_1
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_2
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_3
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_4
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_5)) {
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_1
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_2
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_3
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_4
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_5)) {
// We only stick to the first discovered mavlink channel.
if (_setpoint.data_source == input.data_source || !_setpoint.valid) {
@ -71,6 +71,7 @@ void ManualControlSelector::update_manual_control_input(uint64_t now, const manu
_setpoint.valid = true;
_instance = instance;
}
} else if (_rc_in_mode == 2) {
// FIXME: what to do in the legacy case?
} else if (_rc_in_mode == 3) {
@ -81,6 +82,7 @@ void ManualControlSelector::update_manual_control_input(uint64_t now, const manu
_setpoint.valid = true;
_instance = instance;
}
} else {
// FIXME: param value unknown, what to do?
}

3
src/modules/manual_control/ManualControlSelector.hpp
View File

@ -37,7 +37,8 @@
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_setpoint.h>
namespace manual_control {
namespace manual_control
{
class ManualControlSelector
{