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manual_control: implement (dis)arming via command

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This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent 8876af9150
commit 1c15cc11d8
3 changed files with 88 additions and 28 deletions
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src/modules/manual_control/ManualControl.hpp
+8
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@@ -41,6 +41,7 @@
#include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/Publication.hpp>
@@ -84,6 +85,9 @@ private:
void Run() override;
void send_arm_command();
void send_disarm_command();
uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -92,6 +96,7 @@ private:
{this, ORB_ID(manual_control_input), 1},
{this, ORB_ID(manual_control_input), 2},
};
uORB::SubscriptionCallbackWorkItem _manual_control_switches_sub{this, ORB_ID(manual_control_switches)};
systemlib::Hysteresis _stick_arm_hysteresis{false};
systemlib::Hysteresis _stick_disarm_hysteresis{false};
@@ -100,6 +105,9 @@ private:
bool _published_invalid_once{false};
int _last_selected_input{-1};
bool _previous_arm_gesture{false};
bool _previous_disarm_gesture{false};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};