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ManualControl: add parameter to disable arm/disarm stick gesture

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This commit is contained in:
Matthias Grob
2021-11-22 15:21:22 +01:00
parent 468022abba
commit 572890f8c0
3 changed files with 47 additions and 2 deletions
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src/modules/manual_control/ManualControl.cpp
+2 -2
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@@ -267,7 +267,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
const bool previous_stick_arm_hysteresis = _stick_arm_hysteresis.get_state();
_stick_arm_hysteresis.set_state_and_update(left_stick_lower_right && right_stick_centered, input.timestamp);
if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
if (_param_man_arm_gesture.get() && !previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_STICK_GESTURE);
}
@@ -277,7 +277,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
const bool previous_stick_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
_stick_disarm_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_centered, input.timestamp);
if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
if (_param_man_arm_gesture.get() && !previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_STICK_GESTURE);
}
}