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commander: move switch handling to manual_control

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This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent 08e58a44e9
commit 97aa06cc19
4 changed files with 274 additions and 161 deletions
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src/modules/commander/Commander.hpp
-11
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@@ -175,9 +175,6 @@ private:
void UpdateEstimateValidity();
// Set the system main state based on the current RC inputs
transition_result_t set_main_state();
bool shutdown_if_allowed();
bool stabilization_required();
@@ -251,13 +248,6 @@ private:
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
// Circuit breakers
(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
@@ -361,7 +351,6 @@ private:
manual_control_switches_s _last_manual_control_switches{};
ManualControl _manual_control{this};
hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost
int32_t _flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
hrt_abstime _boot_timestamp{0};
hrt_abstime _last_disarmed_timestamp{0};