Sticks : Add utility functions to get pitch, roll, throttle and yaw values intuitively and rename ambiguously named function checkAndSetStickInputs()

src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp

@@ -44,7 +44,7 @@ Sticks::Sticks(ModuleParams *parent) :
 	ModuleParams(parent)
 {}
 
-bool Sticks::checkAndSetStickInputs()
+bool Sticks::checkAndUpdateStickInputs()
 {
 	// Sticks are rescaled linearly and exponentially to [-1,1]
 	manual_control_setpoint_s manual_control_setpoint;

src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp

@@ -53,11 +53,20 @@ public:
 	Sticks(ModuleParams *parent);
 	~Sticks() = default;
 
-	bool checkAndSetStickInputs();
+	// Checks for updated manual control input & updates internal values
+	bool checkAndUpdateStickInputs();
+
 	bool isAvailable() { return _input_available; };
+
+	// Position : 0 : pitch, 1 : roll, 2 : throttle, 3 : yaw
 	const matrix::Vector<float, 4> &getPosition() { return _positions; };
 	const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; };
 
+	// Helper functions to get stick values more intuitively
+	float getPitch() { return _positions(0); }
+	float getRoll() { return _positions(1); }
+	float getThrottle() { return _positions(2); }
+	float getYaw() { return _positions(3); }
 
 	/**
 	 * Limit the the horizontal input from a square shaped joystick gimbal to a unit circle