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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/ManualControlSelector.cpp
+4 -4
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@@ -37,7 +37,7 @@
namespace manual_control
{
void ManualControlSelector::update_time_only(uint64_t now)
void ManualControlSelector::updateValidityOfChosenInput(uint64_t now)
{
if (!isInputValid(_setpoint.chosen_input, now)) {
_setpoint.valid = false;
@@ -45,10 +45,10 @@ void ManualControlSelector::update_time_only(uint64_t now)
}
}
void ManualControlSelector::update_manual_control_input(uint64_t now, const manual_control_input_s &input, int instance)
void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_control_input_s &input, int instance)
{
// First check if the setpoint in use got invalid, so it can get replaced below.
update_time_only(now);
// First check if the chosen input got invalid, so it can get replaced
updateValidityOfChosenInput(now);
const bool update_existing_input = _setpoint.valid == true && input.data_source == _setpoint.chosen_input.data_source;
const bool start_using_new_input = _setpoint.valid == false;