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commander: move manual_control and switches out

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This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent e49b596edc
commit 97d01f200e
8 changed files with 64 additions and 410 deletions
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src/modules/commander/Commander.hpp
+7 -10
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@@ -36,7 +36,6 @@
/* Helper classes */
#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
#include "failure_detector/FailureDetector.hpp"
#include "ManualControl.hpp"
#include "state_machine_helper.h"
#include "worker_thread.hpp"
@@ -51,7 +50,6 @@
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/failure_detector_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/test_motor.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -71,7 +69,7 @@
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/offboard_control_mode.h>
@@ -347,10 +345,10 @@ private:
unsigned int _leds_counter{0};
manual_control_switches_s _manual_control_switches{};
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
hrt_abstime _last_valid_manual_control_setpoint{0};
bool _is_throttle_above_center{false};
bool _is_throttle_low{false};
hrt_abstime _boot_timestamp{0};
hrt_abstime _last_disarmed_timestamp{0};
@@ -390,12 +388,12 @@ private:
uORB::Subscription _cmd_sub {ORB_ID(vehicle_command)};
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
uORB::Subscription _geofence_result_sub{ORB_ID(geofence_result)};
uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _safety_sub{ORB_ID(safety)};
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
@@ -429,7 +427,6 @@ private:
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
uORB::Publication<mission_s> _mission_pub{ORB_ID(mission)};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};