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ManualControlSelector: rename functions and validate chosen inputs all the time

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Matthias Grob
2021-10-13 14:14:56 +02:00
parent 28a29ad050
commit 0901b73f50
4 changed files with 38 additions and 43 deletions
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src/modules/manual_control/ManualControl.cpp
+5 -10
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@@ -84,20 +84,18 @@ void ManualControl::Run()
_stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
_button_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
_selector.set_rc_in_mode(_param_com_rc_in_mode.get());
_selector.set_timeout(_param_com_rc_loss_t.get() * 1_s);
_selector.setRcInMode(_param_com_rc_in_mode.get());
_selector.setTimeout(_param_com_rc_loss_t.get() * 1_s);
}
bool found_at_least_one = false;
const hrt_abstime now = hrt_absolute_time();
const float dt_s = (now - _last_time) / 1e6f;
_selector.updateValidityOfChosenInput(now);
for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) {
manual_control_input_s manual_control_input;
if (_manual_control_input_subs[i].update(&manual_control_input)) {
found_at_least_one = true;
_selector.update_manual_control_input(now, manual_control_input, i);
_selector.updateWithNewInputSample(now, manual_control_input, i);
}
}
@@ -108,10 +106,6 @@ void ManualControl::Run()
switches_updated = true;
}
if (!found_at_least_one) {
_selector.update_time_only(now);
}
if (_selector.setpoint().valid) {
_published_invalid_once = false;
@@ -150,6 +144,7 @@ void ManualControl::Run()
_previous_disarm_gesture = false;
}
const float dt_s = (now - _last_time) / 1e6f;
_x_diff.update(_selector.setpoint().chosen_input.x, dt_s);
_y_diff.update(_selector.setpoint().chosen_input.y, dt_s);
_z_diff.update(_selector.setpoint().chosen_input.z, dt_s);