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Commander: move rc arming to ManualControl class

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Separating the different arming methods is the next step.
This commit is contained in:
Matthias Grob
2021-03-04 10:41:21 +01:00
parent 00a4133042
commit 37ea78a7ff
4 changed files with 118 additions and 94 deletions
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src/modules/commander/Commander.hpp
-8
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@@ -235,7 +235,6 @@ private:
(ParamFloat<px4::params::COM_EF_TIME>) _param_ef_time_thres,
(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_arm_without_gps,
(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_arm_switch_is_button,
(ParamBool<px4::params::COM_ARM_MIS_REQ>) _param_arm_mission_required,
(ParamBool<px4::params::COM_ARM_AUTH_REQ>) _param_arm_auth_required,
(ParamBool<px4::params::COM_ARM_CHK_ESCS>) _param_escs_checks_required,
@@ -245,7 +244,6 @@ private:
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
@@ -285,9 +283,6 @@ private:
/* Decouple update interval and hysteresis counters, all depends on intervals */
static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
static constexpr float COMMANDER_MONITORING_LOOPSPERMSEC{1 / (COMMANDER_MONITORING_INTERVAL / 1000.0f)};
static constexpr float STICK_ON_OFF_LIMIT{0.9f};
static constexpr uint64_t HOTPLUG_SENS_TIMEOUT{8_s}; /**< wait for hotplug sensors to come online for upto 8 seconds */
static constexpr uint64_t PRINT_MODE_REJECT_INTERVAL{500_ms};
@@ -360,9 +355,6 @@ private:
ManualControl _manual_control{this};
hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost
int32_t _flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};
uint32_t _stick_off_counter{0};
uint32_t _stick_on_counter{0};
hrt_abstime _boot_timestamp{0};
hrt_abstime _last_disarmed_timestamp{0};