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ManualControlSelector: address invalid prioritized input and don't check if sample is from the future

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This commit is contained in:
Matthias Grob 2025-07-30 18:02:21 +02:00
parent 461433d7f6
commit 887ca6d497
1 changed files with 5 additions and 4 deletions
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9
src/modules/manual_control/ManualControlSelector.cpp
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@ -43,9 +43,11 @@ void ManualControlSelector::updateValidityOfChosenInput(uint64_t now)
void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_control_setpoint_s &input, int instance)
{
if (isRc(input.data_source)) { _timestamp_last_rc = input.timestamp_sample; }
if (input.valid) {
if (isRc(input.data_source)) { _timestamp_last_rc = input.timestamp_sample; }
if (isMavlink(input.data_source)) { _timestamp_last_mavlink = input.timestamp_sample; }
if (isMavlink(input.data_source)) { _timestamp_last_mavlink = input.timestamp_sample; }
}
// First check if the chosen input got invalid, so it can get replaced
updateValidityOfChosenInput(now);
@ -70,7 +72,6 @@ void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_
bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input, uint64_t now) const
{
// Check for timeout
const bool sample_from_the_past = now >= input.timestamp_sample;
const bool sample_newer_than_timeout = now < input.timestamp_sample + _timeout;
// Check if source matches the configuration
@ -107,7 +108,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
break;
}
return sample_from_the_past && sample_newer_than_timeout && input.valid && match;
return sample_newer_than_timeout && input.valid && match;
}
manual_control_setpoint_s &ManualControlSelector::setpoint()