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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/manual_control/ManualControl.hpp
+21 -3
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@@ -76,11 +76,22 @@ public:
private:
static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
enum class ArmingOrigin {
GESTURE = 1,
SWITCH = 2,
BUTTON = 3,
};
void Run() override;
void send_arm_command();
void send_disarm_command();
void send_mode_command(int32_t commander_main_state);
void send_arm_command(bool should_arm, ArmingOrigin origin);
void send_rtl_command();
void send_loiter_command();
void send_offboard_command();
void send_termination_command(bool should_terminate);
void publish_landing_gear(int8_t action);
void send_vtol_transition_command(uint8_t action);
uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
@@ -109,6 +120,7 @@ private:
manual_control_switches_s _previous_switches{};
bool _previous_switches_initialized{false};
int32_t _last_mode_slot_flt{-1};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
@@ -117,7 +129,13 @@ private:
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
(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
)
};
} // namespace manual_control