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Commander: use parameters directly in ManualControl

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This commit is contained in:
Matthias Grob
2021-03-04 10:41:21 +01:00
parent dda895c94b
commit 0e1f1a9f57
4 changed files with 19 additions and 18 deletions
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src/modules/commander/Commander.hpp
+1 -3
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@@ -245,10 +245,8 @@ private:
(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
@@ -361,7 +359,7 @@ private:
manual_control_setpoint_s _last_manual_control_setpoint{};
manual_control_switches_s _manual_control_switches{};
manual_control_switches_s _last_manual_control_switches{};
ManualControl _manual_control;
ManualControl _manual_control{this};
hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost
int32_t _flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};