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msg: re-use manual_control_input in setpoint

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This way we avoid duplication between manual_control_input and
manual_control_setpoint.
This commit is contained in:
Julian Oes
2021-06-10 10:56:27 +02:00
committed by Matthias Grob
parent baf81abbab
commit 6a6b8d49fc
21 changed files with 125 additions and 168 deletions
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src/modules/manual_control/ManualControl.cpp
+11 -8
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@@ -116,9 +116,12 @@ void ManualControl::Run()
_published_invalid_once = false;
// user arm/disarm gesture
const bool right_stick_centered = (fabsf(_selector.setpoint().x) < 0.1f) && (fabsf(_selector.setpoint().y) < 0.1f);
const bool stick_lower_left = (_selector.setpoint().z < 0.1f) && (_selector.setpoint().r < -0.9f);
const bool stick_lower_right = (_selector.setpoint().z < 0.1f) && (_selector.setpoint().r > 0.9f);
const bool right_stick_centered = (fabsf(_selector.setpoint().chosen_input.x) < 0.1f)
&& (fabsf(_selector.setpoint().chosen_input.y) < 0.1f);
const bool stick_lower_left = (_selector.setpoint().chosen_input.z < 0.1f)
&& (_selector.setpoint().chosen_input.r < -0.9f);
const bool stick_lower_right = (_selector.setpoint().chosen_input.z < 0.1f)
&& (_selector.setpoint().chosen_input.r > 0.9f);
_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, _selector.setpoint().timestamp);
_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, _selector.setpoint().timestamp);
@@ -153,14 +156,14 @@ void ManualControl::Run()
_selector.setpoint().user_override = rpy_moved || throttle_moved;
_x_diff.update(_selector.setpoint().x, dt_s);
_y_diff.update(_selector.setpoint().y, dt_s);
_z_diff.update(_selector.setpoint().z, dt_s);
_r_diff.update(_selector.setpoint().r, dt_s);
_x_diff.update(_selector.setpoint().chosen_input.x, dt_s);
_y_diff.update(_selector.setpoint().chosen_input.y, dt_s);
_z_diff.update(_selector.setpoint().chosen_input.z, dt_s);
_r_diff.update(_selector.setpoint().chosen_input.r, dt_s);
if (switches_updated) {
// Only use switches if current source is RC as well.
if (_selector.setpoint().data_source == manual_control_input_s::SOURCE_RC) {
if (_selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_RC) {
if (_previous_switches_initialized) {
if (switches.mode_slot != _previous_switches.mode_slot) {
evaluate_mode_slot(switches.mode_slot);