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ManualControlSelector: refactor selection to chose based on a single condition

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Matthias Grob
2021-10-06 18:40:32 +02:00
parent 1bd786c71a
commit 396bab52ad
3 changed files with 18 additions and 29 deletions
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src/modules/manual_control/ManualControlSelectorTest.cpp
+1 -3
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@@ -93,11 +93,9 @@ TEST(ManualControlSelector, MavlinkInputOnly)
EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
EXPECT_EQ(selector.instance(), 1);
// But only the first MAVLink source wins, others are too late.
timestamp += 100_ms;
// Now provide input with the correct source.
// But only the first MAVLink source wins, others are too late.
input.data_source = manual_control_input_s::SOURCE_MAVLINK_4;
input.timestamp_sample = timestamp;
selector.update_manual_control_input(timestamp, input, 1);