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ManualControlSelector: unify validity conditions into one place

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This commit is contained in:
Matthias Grob 2025-10-01 16:40:43 +02:00 committed by Tobias Büchli
parent 365525269e
commit 661b0655dc
1 changed files with 4 additions and 11 deletions
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15
src/modules/manual_control/ManualControlSelector.cpp
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@ -46,15 +46,8 @@ void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_
// First check if the chosen input got invalid, so it can get replaced
updateValidityOfChosenInput(now);
const bool update_existing_input = _setpoint.valid && (input.data_source == _setpoint.data_source);
const bool start_using_new_input = !_setpoint.valid;
const bool is_priority_mode = (_rc_in_mode == RcInMode::PriorityRcThenMavlinkAscending
|| _rc_in_mode == RcInMode::PriorityMavlinkAscendingThenRc
|| _rc_in_mode == RcInMode::PriorityRcThenMavlinkDescending
|| _rc_in_mode == RcInMode::PriorityMavlinkDescendingThenRc);
// Switch to new input if it's valid and we don't already have a valid one
if (isInputValid(input, now) && (update_existing_input || start_using_new_input || is_priority_mode)) {
// Update with input sample if it's valid and should be chosen according to COM_RC_IN_MODE
if (isInputValid(input, now)) {
_setpoint = input;
_setpoint.valid = true;
_setpoint.timestamp = now; // timestamp_sample is preserved
@ -81,11 +74,11 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
break;
case RcInMode::MavLinkOnly:
match = isMavlink(input.data_source);
match = isMavlink(input.data_source) && ((input.data_source == _setpoint.data_source) || !_setpoint.valid);
break;
case RcInMode::RcOrMavlinkWithFallback:
match = true;
match = (input.data_source == _setpoint.data_source) || !_setpoint.valid;
break;
case RcInMode::RcOrMavlinkKeepFirst: