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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/ManualControlSelector.cpp
+5 -1
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@@ -41,10 +41,11 @@ void ManualControlSelector::update_time_only(uint64_t now)
{
if (_setpoint.timestamp_sample + _timeout < now) {
_setpoint.valid = false;
_instance = -1;
}
}
void ManualControlSelector::update_manual_control_input(uint64_t now, const manual_control_input_s &input)
void ManualControlSelector::update_manual_control_input(uint64_t now, const manual_control_input_s &input, int instance)
{
// This method requires the current timestamp explicitly in order to prevent weird cases
// if the timestamp_sample of some source is invalid/wrong.
@@ -55,6 +56,7 @@ void ManualControlSelector::update_manual_control_input(uint64_t now, const manu
if (_rc_in_mode == 0 && input.data_source == manual_control_input_s::SOURCE_RC) {
_setpoint = setpoint_from_input(input);
_setpoint.valid = true;
_instance = instance;
} else if (_rc_in_mode == 1 && (input.data_source == manual_control_input_s::SOURCE_MAVLINK_0
|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_1
@@ -67,6 +69,7 @@ void ManualControlSelector::update_manual_control_input(uint64_t now, const manu
if (_setpoint.data_source == input.data_source || !_setpoint.valid) {
_setpoint = setpoint_from_input(input);
_setpoint.valid = true;
_instance = instance;
}
} else if (_rc_in_mode == 2) {
// FIXME: what to do in the legacy case?
@@ -76,6 +79,7 @@ void ManualControlSelector::update_manual_control_input(uint64_t now, const manu
if (_setpoint.data_source == input.data_source || !_setpoint.valid) {
_setpoint = setpoint_from_input(input);
_setpoint.valid = true;
_instance = instance;
}
} else {
// FIXME: param value unknown, what to do?