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Create Trigger Action Enums and start taking trigger action params into account

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This commit is contained in:
Junwoo Hwang
2022-05-24 21:32:55 +02:00
parent 432e2439a2
commit 474540937c
4 changed files with 92 additions and 27 deletions
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src/modules/rc_update/rc_update.cpp
+45 -11
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@@ -64,7 +64,15 @@ static bool operator !=(const manual_control_switches_s &a, const manual_control
RCUpdate::RCUpdate() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_trigger_slots_hysteresis{
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false}
}
{
// initialize parameter handles
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
@@ -96,13 +104,23 @@ RCUpdate::RCUpdate() :
// shifted by 1 because param name starts at 1
char name[rc_parameter_map_s::PARAM_ID_LEN];
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1);
_parameter_handles.rc_map_param[i] = param_find(name);
_trigger_channel_param_handles.rc_map_param[i] = param_find(name);
}
// Find and set RC Channel & Actions for each Trigger actions (1 ~ 6)
char param_name_buf[17] = {};
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_CHAN", trig_slot);
_trigger_channel_param_handles[trig_slot - 1] = param_find(param_name_buf);
snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_ACTION", trig_slot);
_trigger_action_param_handles[trig_slot - 1] = param_find(param_name_buf);
}
}
rc_parameter_map_poll(true /* forced */);
parameters_updated();
_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
//_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
}
RCUpdate::~RCUpdate()
@@ -602,9 +620,31 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
}
for (uint8_t trig_slot = 0; trig_slot < RC_TRIG_SLOT_COUNT; trig_slot++) {
// Use the Generic RC Switch / Button only when the RC is in use
if (_manual_control_setpoint_sub.update() &&
_manual_control_setpoint_sub.get().data_source == manual_control_setpoint_s::SOURCE_RC) {
_manual_control_setpoint_source_is_rc = true;
}
const bool is_btn = _param_rc_trig_btn_mask.get() && (1 << trig_slot);
// Go through the trigger slots and update the states
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
}
// Update the Generic Action states
const uint8_t trig1_chan = _param_rc_trig1_chan.get();
const uint8_t trig1_action = _param_rc_trig1_action.get();
// Trigger Channel is configured
if (trig1_chan > 0) {
const bool is_btn = _param_rc_trig_btn_mask.get() & (1 << 0);
if (is_btn) {
}
else {
// Is Switch
}
}
else if (_param_rc_map_flightmode_buttons.get() > 0) {
@@ -630,12 +670,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
break;
}
}
_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time());
if (_button_pressed_hysteresis.get_state()) {
switches.mode_slot = _potential_button_press_slot;
}
}
switches.return_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_RETURN, _param_rc_return_th.get());