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vmount: add param to use RC input for angular rate

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Until now RC input was translated to angles only. I added the param
MNT_RC_IN_MODE which allows the RC input to be used for angular rate.
This commit is contained in:
Julian Oes
2021-12-08 01:02:46 -05:00
committed by Daniel Agar
parent 08b0ac9654
commit 9cb2bf389c
4 changed files with 77 additions and 19 deletions
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src/modules/vmount/input_rc.h
+12 -7
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@@ -61,7 +61,8 @@ public:
* @param aux_channel_pitch
* @param aux_channel_yaw
*/
InputRC(int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw);
InputRC(int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw, float mnt_rate_pitch, float mnt_rate_yaw,
int rc_in_mode);
virtual ~InputRC();
virtual void print_status();
@@ -75,16 +76,20 @@ protected:
*/
virtual bool _read_control_data_from_subscription(ControlData &control_data, bool already_active);
int _get_subscription_fd() const { return _manual_control_setpoint_sub; }
float _get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx);
private:
int _aux_channels[3];
int _manual_control_setpoint_sub = -1;
int _aux_channels[3] {};
bool _first_time = true;
float _last_set_aux_values[3] = {};
float _mnt_rate_pitch{0.f};
float _mnt_rate_yaw{0.f};
int _rc_in_mode{0};
int _manual_control_setpoint_sub{-1};
bool _first_time{true};
float _last_set_aux_values[3] {};
};