fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-30 19:40:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

delete unused actuator_controls_3

Browse Source
This commit is contained in:
Daniel Agar
2022-08-24 18:10:24 -04:00
parent 55be169e18
commit 13f9eabd70
8 changed files with 2 additions and 96 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rc_update/rc_update.cpp
-46
View File
@@ -701,52 +701,6 @@ void RCUpdate::UpdateManualControlInput(const hrt_abstime &timestamp_sample)
manual_control_input.timestamp = hrt_absolute_time();
_manual_control_input_pub.publish(manual_control_input);
_last_manual_control_input_publish = manual_control_input.timestamp;
actuator_controls_s actuator_group_3{};
// copy in previous actuator control setpoint in case aux{1, 2, 3} isn't changed
_actuator_controls_3_sub.update(&actuator_group_3);
// populate and publish actuator_controls_3 copied from mapped manual_control_input
actuator_group_3.control[0] = manual_control_input.y;
actuator_group_3.control[1] = manual_control_input.x;
actuator_group_3.control[2] = manual_control_input.r;
actuator_group_3.control[3] = manual_control_input.z;
actuator_group_3.control[4] = manual_control_input.flaps;
float new_aux_values[3];
new_aux_values[0] = manual_control_input.aux1;
new_aux_values[1] = manual_control_input.aux2;
new_aux_values[2] = manual_control_input.aux3;
// if AUX RC was already active, we update. otherwise, we check
// if there is a major stick movement to re-activate RC mode
bool major_movement[3] = {false, false, false};
// detect a big stick movement
for (int i = 0; i < 3; i++) {
if (fabsf(_last_manual_control_input[i] - new_aux_values[i]) > 0.1f) {
major_movement[i] = true;
}
}
for (int i = 0; i < 3; i++) {
// if someone else (DO_SET_ACTUATOR) updated the actuator control
// and we haven't had a major movement, switch back to automatic control
if ((fabsf(_last_manual_control_input[i] - actuator_group_3.control[5 + i])
> 0.0001f) && (!major_movement[i])) {
_aux_already_active[i] = false;
}
if (_aux_already_active[i] || major_movement[i]) {
_aux_already_active[i] = true;
_last_manual_control_input[i] = new_aux_values[i];
actuator_group_3.control[5 + i] = new_aux_values[i];
}
}
actuator_group_3.timestamp = hrt_absolute_time();
_actuator_group_3_pub.publish(actuator_group_3);
}
int RCUpdate::task_spawn(int argc, char *argv[])