fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 11:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Commander: use parameters directly in ManualControl

Browse Source
This commit is contained in:
Matthias Grob
2021-02-16 08:45:33 +01:00
parent dda895c94b
commit 0e1f1a9f57
4 changed files with 19 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/ManualControl.cpp
+5 -6
View File
@@ -56,24 +56,23 @@ void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)
_manual_control_setpoint = manual_control_setpoint;
}
bool ManualControl::wantsOverride(const int param_rc_override, const float param_com_rc_stick_ov,
const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available)
bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available)
{
const bool override_auto_mode = (param_rc_override & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
&& vehicle_control_mode.flag_control_auto_enabled;
const bool override_offboard_mode = (param_rc_override & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
&& vehicle_control_mode.flag_control_offboard_enabled;
if (rc_available && (override_auto_mode || override_offboard_mode)) {
const float minimum_stick_change = .01f * param_com_rc_stick_ov;
const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();
const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
|| (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
|| (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
const bool throttle_moved =
(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
const bool use_throttle = !(param_rc_override & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
if (rpy_moved || (use_throttle && throttle_moved)) {
return true;