ManualControl: put input processing in separate testable function

src/modules/manual_control/ManualControl.cpp

@@ -86,7 +86,16 @@ void ManualControl::Run()
 		updateParams();
 	}
 
-	const hrt_abstime now = hrt_absolute_time();
+	processInput(hrt_absolute_time());
+
+	// reschedule timeout
+	ScheduleDelayed(200_ms);
+
+	perf_end(_loop_perf);
+}
+
+void ManualControl::processInput(hrt_abstime now)
+{
 	_selector.updateValidityOfChosenInput(now);
 
 	for (int i = 0; i < MAX_MANUAL_INPUT_COUNT; i++) {
@@ -267,11 +276,6 @@ void ManualControl::Run()
 	}
 
 	_last_time = now;
-
-	// reschedule timeout
-	ScheduleDelayed(200_ms);
-
-	perf_end(_loop_perf);
 }
 
 void ManualControl::updateParams()

src/modules/manual_control/ManualControl.hpp

@@ -74,6 +74,9 @@ public:
 
 	int print_status() override;
 
+protected:
+	void processInput(hrt_abstime now);
+
 private:
 	static constexpr int MAX_MANUAL_INPUT_COUNT = 3;