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feat(manual_control): replace stick override threshold with double-flick gesture

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RC override during autonomous missions now requires a deliberate roll double-flick (right→left or left→right) within 0.3s instead of a single instantaneous stick velocity threshold. A static deflection or an accidental single bump can no longer trigger the override.
COM_RC_STICK_OV is reused as the deflection threshold for each flick; no new parameters are introduced.
This commit is contained in:
gguidone 2026-04-09 13:30:27 +02:00
parent b48f3ef6f7
commit 616be3255c
2 changed files with 56 additions and 12 deletions
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55
src/modules/manual_control/ManualControl.cpp
View File

@ -123,14 +123,52 @@ void ManualControl::processInput(hrt_abstime now)
processStickArming(_selector.setpoint());
// User override by stick
// User override by stick: double-flick gesture (roll right then left, or left then right)
const float dt_s = (now - _timestamp_last_loop) / 1e6f;
const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get();
const float flick_threshold = 0.01f * _param_com_rc_stick_ov.get();
const float roll = _selector.setpoint().roll;
const float roll_rate = _roll_diff.update(roll, dt_s);
bool gesture_fired = false;
_selector.setpoint().sticks_moving = (fabsf(_roll_diff.update(_selector.setpoint().roll, dt_s)) > minimum_stick_change)
|| (fabsf(_pitch_diff.update(_selector.setpoint().pitch, dt_s)) > minimum_stick_change)
|| (fabsf(_yaw_diff.update(_selector.setpoint().yaw, dt_s)) > minimum_stick_change)
|| (fabsf(_throttle_diff.update(_selector.setpoint().throttle, dt_s)) > minimum_stick_change);
switch (_flick_state) {
case FlickState::Idle:
// Require active velocity so a statically held or resting stick cannot arm
if (roll > flick_threshold && roll_rate > flick_threshold) {
_flick_state = FlickState::FirstFlickRight;
_flick_timestamp = now;
} else if (roll < -flick_threshold && roll_rate < -flick_threshold) {
_flick_state = FlickState::FirstFlickLeft;
_flick_timestamp = now;
}
break;
case FlickState::FirstFlickRight:
if ((now - _flick_timestamp) > (hrt_abstime)(FLICK_WINDOW_S * 1e6f)) {
_flick_state = FlickState::Idle;
} else if (roll < -flick_threshold && roll_rate < -flick_threshold) {
gesture_fired = true;
_flick_state = FlickState::Idle;
}
break;
case FlickState::FirstFlickLeft:
if ((now - _flick_timestamp) > (hrt_abstime)(FLICK_WINDOW_S * 1e6f)) {
_flick_state = FlickState::Idle;
} else if (roll > flick_threshold && roll_rate > flick_threshold) {
gesture_fired = true;
_flick_state = FlickState::Idle;
}
break;
}
_selector.setpoint().sticks_moving = gesture_fired;
_selector.setpoint().timestamp = now;
_manual_control_setpoint_pub.publish(_selector.setpoint());
@ -160,9 +198,8 @@ void ManualControl::processInput(hrt_abstime now)
}
_roll_diff.reset();
_pitch_diff.reset();
_yaw_diff.reset();
_throttle_diff.reset();
_flick_state = FlickState::Idle;
_flick_timestamp = 0;
_stick_arm_hysteresis.set_state_and_update(false, now);
_stick_disarm_hysteresis.set_state_and_update(false, now);
_stick_kill_hysteresis.set_state_and_update(false, now);

13
src/modules/manual_control/ManualControl.hpp
View File

@ -128,9 +128,16 @@ private:
systemlib::Hysteresis _button_arm_hysteresis{false};
MovingDiff _roll_diff{};
MovingDiff _pitch_diff{};
MovingDiff _yaw_diff{};
MovingDiff _throttle_diff{};
// Double-flick RC override gesture state
enum class FlickState : uint8_t {
Idle,
FirstFlickRight,
FirstFlickLeft,
};
FlickState _flick_state{FlickState::Idle};
hrt_abstime _flick_timestamp{0};
static constexpr float FLICK_WINDOW_S = 0.5f;
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};