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manual_control: add instance to selector

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This instance is then used to schedule the callback for the
subscription.
This commit is contained in:
Julian Oes
2021-04-14 11:22:29 +02:00
committed by Matthias Grob
parent 14eb656a59
commit 8876af9150
5 changed files with 42 additions and 25 deletions
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src/modules/manual_control/ManualControl.cpp
+16 -14
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@@ -92,7 +92,7 @@ void ManualControl::Run()
found_at_least_one = true;
_selector.update_manual_control_input(now, manual_control_input);
_selector.update_manual_control_input(now, manual_control_input, i);
}
}
@@ -133,21 +133,23 @@ void ManualControl::Run()
_selector.setpoint().timestamp = now;
_manual_control_setpoint_pub.publish(_selector.setpoint());
_manual_control_input_subs[_selector.instance()].registerCallback();
if (_last_selected_input != _selector.instance()) {
PX4_INFO("selected manual_control_input changed %d -> %d", _last_selected_input, _selector.instance());
_last_selected_input = _selector.instance();
}
} else {
_published_invalid_once = true;
_manual_control_setpoint_pub.publish(_selector.setpoint());
_last_selected_input = -1;
if (!_published_invalid_once) {
_published_invalid_once = true;
_manual_control_setpoint_pub.publish(_selector.setpoint());
}
}
// FIXME: get from selector
//if ((selected_manual_input >= 0) && (selected_manual_input != _selected_manual_input)) {
// if (_selected_manual_input >= 0) {
// PX4_INFO("selected manual_control_input changed %d -> %d", _selected_manual_input, selected_manual_input);
// }
// _manual_control_input_subs[selected_manual_input].registerCallback();
// _selected_manual_input = selected_manual_input;
//}
// reschedule timeout
ScheduleDelayed(200_ms);
@@ -198,7 +200,7 @@ int ManualControl::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Module consuming manual_control_inputs publishing one manual_control_setpoint.
)DESCR_STR");