fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 11:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: extend COM_RC_IN_MODE 5 and 6 to source ID ascending and descending priority modes

Browse Source
This commit is contained in:
Tobias Büchli
2025-10-01 18:31:12 +02:00
parent 6c69d86d7e
commit 25c66a7ee5
6 changed files with 114 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/manual_control/ManualControlSelector.cpp
+12 -16
View File
@@ -43,20 +43,16 @@ void ManualControlSelector::updateValidityOfChosenInput(uint64_t now)
void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_control_setpoint_s &input, int instance)
{
if (input.valid) {
if (isRc(input.data_source)) { _timestamp_last_rc = input.timestamp_sample; }
if (isMavlink(input.data_source)) { _timestamp_last_mavlink = input.timestamp_sample; }
}
// First check if the chosen input got invalid, so it can get replaced
updateValidityOfChosenInput(now);
const bool update_existing_input = _setpoint.valid && (input.data_source == _setpoint.data_source);
const bool start_using_new_input = !_setpoint.valid;
const bool is_priority_mode = (_rc_in_mode == RcInMode::AscendingPriority
|| _rc_in_mode == RcInMode::DescendingPriority);
// Switch to new input if it's valid and we don't already have a valid one
if (isInputValid(input, now) && (update_existing_input || start_using_new_input)) {
if (isInputValid(input, now) && (update_existing_input || start_using_new_input || is_priority_mode)) {
_setpoint = input;
_setpoint.valid = true;
_setpoint.timestamp = now; // timestamp_sample is preserved
@@ -78,32 +74,32 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
bool match = false;
switch (_rc_in_mode) { // COM_RC_IN_MODE
case 0: // RC Transmitter only
case RcInMode::RcTransmitterOnly:
match = isRc(input.data_source);
break;
case 1: // Joystick only
case RcInMode::JoystickOnly:
match = isMavlink(input.data_source);
break;
case 2: // RC and Joystick with fallback
case RcInMode::RcAndJoystickWithFallback:
match = true;
break;
case 3: // RC or Joystick keep first
case RcInMode::RcOrJoystickKeepFirst:
match = (input.data_source == _first_valid_source)
|| (_first_valid_source == manual_control_setpoint_s::SOURCE_UNKNOWN);
break;
case 5: // RC priority, Joystick fallback
match = isRc(input.data_source) || (now > _timestamp_last_rc + _timeout);
case RcInMode::AscendingPriority:
match = !_setpoint.valid || (input.data_source <= _setpoint.data_source);
break;
case 6: // Joystick priority, RC fallback
match = isMavlink(input.data_source) || (now > _timestamp_last_mavlink + _timeout);
case RcInMode::DescendingPriority:
match = !_setpoint.valid || (input.data_source >= _setpoint.data_source);
break;
case 4: // Stick input disabled
case RcInMode::StickInputDisabled:
default:
break;
}
src/modules/manual_control/ManualControlSelector.hpp
+13 -4
View File
@@ -39,7 +39,7 @@
class ManualControlSelector
{
public:
void setRcInMode(int32_t rc_in_mode) { _rc_in_mode = rc_in_mode; }
void setRcInMode(int32_t rc_in_mode) { _rc_in_mode = static_cast<RcInMode>(rc_in_mode); }
void setTimeout(uint64_t timeout) { _timeout = timeout; }
void updateValidityOfChosenInput(uint64_t now);
void updateWithNewInputSample(uint64_t now, const manual_control_setpoint_s &input, int instance);
@@ -51,11 +51,20 @@ private:
static bool isRc(uint8_t source);
static bool isMavlink(uint8_t source);
// COM_RC_IN_MODE parameter values
enum class RcInMode : int32_t {
RcTransmitterOnly = 0, // RC Transmitter only
JoystickOnly = 1, // Joystick only
RcAndJoystickWithFallback = 2, // RC And Joystick with fallback
RcOrJoystickKeepFirst = 3, // RC or Joystick keep first
StickInputDisabled = 4, // input disabled
AscendingPriority = 5, // ascending source priority
DescendingPriority = 6 // descending source priority
};
manual_control_setpoint_s _setpoint{};
uint64_t _timeout{0};
int32_t _rc_in_mode{0};
RcInMode _rc_in_mode{RcInMode::RcTransmitterOnly};
int _instance{-1};
uint8_t _first_valid_source{manual_control_setpoint_s::SOURCE_UNKNOWN};
uint64_t _timestamp_last_rc{0};
uint64_t _timestamp_last_mavlink{0};
};
src/modules/manual_control/ManualControlSelectorTest.cpp
+79 -27
View File
@@ -352,15 +352,15 @@ TEST(ManualControlSelector, RcOutdated)
EXPECT_EQ(selector.instance(), -1);
}
TEST(ManualControlSelector, RcMavlinkInputRcPriority)
TEST(ManualControlSelector, AscendingSourcePriority)
{
ManualControlSelector selector;
selector.setRcInMode(5); // Configure RC priority
selector.setRcInMode(5); // Configure ascending source ID priority (lower number wins)
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid RC input gets used
// Valid RC input (ID 1) gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_RC;
input.valid = true;
@@ -373,7 +373,7 @@ TEST(ManualControlSelector, RcMavlinkInputRcPriority)
timestamp += 100_ms;
// Now provide input from MAVLink as well which should get ignored
// Now provide input from MAVLink (ID 2) as well which should get ignored (1 < 2)
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
@@ -384,7 +384,7 @@ TEST(ManualControlSelector, RcMavlinkInputRcPriority)
timestamp += 500_ms;
// Now we update MAVLink and let RC time out, so it should switch to RC
// Now we update MAVLink and let RC time out, so it should switch to MAVLink
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
@@ -393,7 +393,7 @@ TEST(ManualControlSelector, RcMavlinkInputRcPriority)
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 1);
// If we get RC back immediately, it should use it with priority
// If we get RC back immediately, it should take over with priority (1 < 2)
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
@@ -401,17 +401,69 @@ TEST(ManualControlSelector, RcMavlinkInputRcPriority)
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 0);
}
TEST(ManualControlSelector, RcMavlinkInputMavlinkPriority)
TEST(ManualControlSelector, MavlinkTwoInstanceAscendingPriority)
{
ManualControlSelector selector;
selector.setRcInMode(6); // Configure MAVLink priority
selector.setRcInMode(5); // Configure ascending source ID priority (lower number wins)
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid MAVLink input gets used
// Valid MAVLink 1 input (ID 3) gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_MAVLINK_1;
input.valid = true;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
timestamp += 100_ms;
// Now provide input from MAVLink 0 (ID 2), which has higher priority (2 < 3) and should take over
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
// If we get MAVLink 1 back immediately, it should be ignored since MAVLink 0 has higher priority (2 < 3)
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
timestamp += 500_ms;
// Now we update MAVLink 1 and let MAVLink 0 time out, so it should switch to MAVLink 1
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
}
TEST(ManualControlSelector, DescendingSourcePriority)
{
ManualControlSelector selector;
selector.setRcInMode(6); // Configure descending source ID priority (higher number wins)
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid MAVLink input (ID 2) gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_MAVLINK_0;
input.valid = true;
@@ -424,7 +476,7 @@ TEST(ManualControlSelector, RcMavlinkInputMavlinkPriority)
timestamp += 100_ms;
// Now provide input from RC as well which should get ignored
// Now provide input from RC (ID 1) as well which should get ignored (2 > 1)
input.data_source = SOURCE_RC;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
@@ -444,7 +496,7 @@ TEST(ManualControlSelector, RcMavlinkInputMavlinkPriority)
EXPECT_EQ(selector.setpoint().data_source, SOURCE_RC);
EXPECT_EQ(selector.instance(), 1);
// If we get MAVLink back immediately, it should use it with priority
// If we get MAVLink back immediately, it should take over with priority (2 > 1)
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
@@ -454,15 +506,15 @@ TEST(ManualControlSelector, RcMavlinkInputMavlinkPriority)
EXPECT_EQ(selector.instance(), 0);
}
TEST(ManualControlSelector, MavlinkTwoInstanceInputMavlinkPriority)
TEST(ManualControlSelector, MavlinkTwoInstanceDescendingPriority)
{
ManualControlSelector selector;
selector.setRcInMode(6); // Configure MAVLink priority
selector.setRcInMode(6); // Configure descending source ID priority (higher number wins)
selector.setTimeout(500_ms);
uint64_t timestamp = SOME_TIME;
// Valid MAVLink 0 input gets used
// Valid MAVLink 0 input (ID 2) gets used
manual_control_setpoint_s input{};
input.data_source = SOURCE_MAVLINK_0;
input.valid = true;
@@ -475,18 +527,7 @@ TEST(ManualControlSelector, MavlinkTwoInstanceInputMavlinkPriority)
timestamp += 100_ms;
// Now provide input from MAVLink 1 as well which should get ignored
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
timestamp += 500_ms;
// Now we update MAVLink 1 and let MAVLink 0 time out, so it should switch to MAVLink 1
// Now provide input from MAVLink 1 (ID 3), which has higher priority (3 > 2) and should take over
input.data_source = SOURCE_MAVLINK_1;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 1);
@@ -495,7 +536,7 @@ TEST(ManualControlSelector, MavlinkTwoInstanceInputMavlinkPriority)
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
// If we get MAVLink 0 back immediately, it should not switch since MAVLink 1 has the same priority
// If we get MAVLink 0 back immediately, it should be ignored since MAVLink 1 has higher priority (3 > 2)
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
@@ -503,4 +544,15 @@ TEST(ManualControlSelector, MavlinkTwoInstanceInputMavlinkPriority)
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_1);
EXPECT_EQ(selector.instance(), 1);
timestamp += 500_ms;
// Now we update MAVLink 0 and let MAVLink 1 time out, so it should switch to MAVLink 0
input.data_source = SOURCE_MAVLINK_0;
input.timestamp_sample = timestamp;
selector.updateWithNewInputSample(timestamp, input, 0);
EXPECT_TRUE(selector.setpoint().valid);
EXPECT_EQ(selector.setpoint().data_source, SOURCE_MAVLINK_0);
EXPECT_EQ(selector.instance(), 0);
}