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ManualControlSelector: simplify prioritization logic

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This commit is contained in:
Matthias Grob
2025-10-01 16:38:34 +02:00
committed by Tobias Büchli
parent f1f3c81566
commit 365525269e
1 changed files with 8 additions and 52 deletions
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src/modules/manual_control/ManualControlSelector.cpp
+8 -52
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@@ -94,67 +94,23 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
break;
case RcInMode::PriorityRcThenMavlinkAscending:
if (isRc(input.data_source)) {
match = true;
} else if (isMavlink(input.data_source)) {
if (!_setpoint.valid) {
match = true;
} else if (isMavlink(_setpoint.data_source)) {
match = input.data_source <= _setpoint.data_source;
}
}
match = !_setpoint.valid || (input.data_source <= _setpoint.data_source);
break;
case RcInMode::PriorityMavlinkAscendingThenRc:
if (isMavlink(input.data_source)) {
if (!_setpoint.valid || isRc(_setpoint.data_source)) {
match = true;
} else if (isMavlink(_setpoint.data_source)) {
match = input.data_source <= _setpoint.data_source;
}
} else if (isRc(input.data_source)) {
if (!_setpoint.valid || isRc(_setpoint.data_source)) {
match = true;
}
}
match = !_setpoint.valid
|| (isRc(input.data_source) && isRc(_setpoint.data_source))
|| (isMavlink(input.data_source) && (isRc(_setpoint.data_source) || input.data_source <= _setpoint.data_source));
break;
case RcInMode::PriorityRcThenMavlinkDescending:
if (isRc(input.data_source)) {
match = true;
} else if (isMavlink(input.data_source)) {
if (!_setpoint.valid) {
match = true;
} else if (isMavlink(_setpoint.data_source)) {
match = input.data_source >= _setpoint.data_source;
}
}
match = !_setpoint.valid
|| isRc(input.data_source)
|| (isMavlink(input.data_source) && isMavlink(_setpoint.data_source) && input.data_source >= _setpoint.data_source);
break;
case RcInMode::PriorityMavlinkDescendingThenRc:
if (isMavlink(input.data_source)) {
if (!_setpoint.valid || isRc(_setpoint.data_source)) {
match = true;
} else if (isMavlink(_setpoint.data_source)) {
match = input.data_source >= _setpoint.data_source;
}
} else if (isRc(input.data_source)) {
if (!_setpoint.valid || isRc(_setpoint.data_source)) {
match = true;
}
}
match = !_setpoint.valid || (input.data_source >= _setpoint.data_source);
break;
case RcInMode::DisableManualControl: