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ManualControl: fix payload power switch state when mapped with RC (RC_MAP_PAY_SW) (#26357)

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* ManualControl: Payload Power Switch: default PAYLOAD_POWER_EN false if RC_MAP_PAY_SW is configured. Apply initial switch state for Payload Power

* make format

* ManualControl: init power_en in init()

* ManualControl: Apply payload power state on first switch receipt if not armed

* simplfy

* fix idefs

* simplify
This commit is contained in:
Jacob Dahl
2026-02-09 21:36:35 -09:00
committed by GitHub
parent ee196fadb8
commit 3fb1459c33
2 changed files with 22 additions and 0 deletions
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src/modules/manual_control/ManualControl.cpp
+21
View File
@@ -52,6 +52,15 @@ ManualControl::~ManualControl()
bool ManualControl::init()
{
#if defined(PAYLOAD_POWER_EN)
// If the payload power switch is mapped, default to power off until the RC switch explicitly commands it on.
if (_param_rc_map_pay_sw.get()) {
PAYLOAD_POWER_EN(false);
}
#endif // PAYLOAD_POWER_EN
ScheduleNow();
return true;
}
@@ -293,6 +302,18 @@ void ManualControl::processSwitches(hrt_abstime &now)
} else if (!_armed) {
// Directly initialize mode using RC switch but only before arming
evaluateModeSlot(switches.mode_slot);
#if defined(PAYLOAD_POWER_EN)
// Apply payload power state on first switch receipt if not armed
if (switches.payload_power_switch == manual_control_switches_s::SWITCH_POS_ON) {
PAYLOAD_POWER_EN(true);
} else if (switches.payload_power_switch == manual_control_switches_s::SWITCH_POS_OFF
|| switches.payload_power_switch == manual_control_switches_s::SWITCH_POS_MIDDLE) {
PAYLOAD_POWER_EN(false);
}
#endif // PAYLOAD_POWER_EN
}
_previous_switches = switches;
src/modules/manual_control/ManualControl.hpp
+1
View File
@@ -149,6 +149,7 @@ private:
(ParamBool<px4::params::MAN_ARM_GESTURE>) _param_man_arm_gesture,
(ParamFloat<px4::params::MAN_KILL_GEST_T>) _param_man_kill_gest_t,
(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_com_arm_swisbtn,
(ParamInt<px4::params::RC_MAP_PAY_SW>) _param_rc_map_pay_sw,
(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,