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[WIP] manual_control selector hacks

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This commit is contained in:
Daniel Agar
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent e18cf3da3e
commit 2d816e0b3e
54 changed files with 574 additions and 115 deletions
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src/modules/rc_update/rc_update.h
+4 -4
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@@ -53,7 +53,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/rc_channels.h>
@@ -166,7 +166,7 @@ private:
uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::PublicationMulti<manual_control_input_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)};
@@ -177,12 +177,12 @@ private:
rc_parameter_map_s _rc_parameter_map {};
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}; /**< parameter values for RC control */
hrt_abstime _last_manual_control_setpoint_publish{0};
hrt_abstime _last_manual_control_input_publish{0};
hrt_abstime _last_rc_to_param_map_time{0};
hrt_abstime _last_timestamp_signal{0};
uint16_t _rc_values_previous[RC_MAX_CHAN_COUNT] {};
float _last_manual_control_setpoint[3] {};
float _last_manual_control_input[3] {};
bool _aux_already_active[3] = {false, false, false};
uint8_t _channel_count_previous{0};