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Switch manual_control_setpoint.z scaling from [0,1] to [-1,1]

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To be consistent with all other axes of stick input and avoid future
rescaling confusion.

Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
This commit is contained in:
Matthias Grob
2020-10-12 20:03:31 +02:00
parent 5579e319ff
commit 83246c84cf
13 changed files with 38 additions and 52 deletions
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src/modules/manual_control/ManualControl.cpp
+6 -11
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@@ -162,15 +162,10 @@ void ManualControl::Run()
const float dt_s = (now - _last_time) / 1e6f;
const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get();
const bool rpy_moving = (fabsf(_x_diff.update(_selector.setpoint().x, dt_s)) > minimum_stick_change)
|| (fabsf(_y_diff.update(_selector.setpoint().y, dt_s)) > minimum_stick_change)
|| (fabsf(_r_diff.update(_selector.setpoint().r, dt_s)) > minimum_stick_change);
// Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1]
const bool throttle_moving =
(fabsf(_z_diff.update(_selector.setpoint().z, dt_s)) * 2.f) > minimum_stick_change;
_selector.setpoint().sticks_moving = rpy_moving || throttle_moving;
_selector.setpoint().sticks_moving = (fabsf(_x_diff.update(_selector.setpoint().x, dt_s)) > minimum_stick_change)
|| (fabsf(_y_diff.update(_selector.setpoint().y, dt_s)) > minimum_stick_change)
|| (fabsf(_z_diff.update(_selector.setpoint().z, dt_s)) > minimum_stick_change)
|| (fabsf(_r_diff.update(_selector.setpoint().r, dt_s)) > minimum_stick_change);
if (switches_updated) {
// Only use switches if current source is RC as well.
@@ -336,7 +331,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
{
// Arm gesture
const bool right_stick_centered = (fabsf(input.x) < 0.1f) && (fabsf(input.y) < 0.1f);
const bool left_stick_lower_right = (input.z < 0.1f) && (input.r > 0.9f);
const bool left_stick_lower_right = (input.z < -0.8f) && (input.r > 0.9f);
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);
@@ -346,7 +341,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input)
}
// Disarm gesture
const bool left_stick_lower_left = (input.z < 0.1f) && (input.r < -0.9f);
const bool left_stick_lower_left = (input.z < -0.8f) && (input.r < -0.9f);
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);