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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/vmount.cpp
+16 -4
View File
@@ -106,6 +106,7 @@ struct Parameters {
int32_t mav_comp_id;
float mnt_rate_pitch;
float mnt_rate_yaw;
int32_t mnt_rc_in_mode;
bool operator!=(const Parameters &p)
{
@@ -128,7 +129,8 @@ struct Parameters {
mnt_off_roll != p.mnt_off_roll ||
mnt_off_yaw != p.mnt_off_yaw ||
mav_sys_id != p.mav_sys_id ||
mav_comp_id != p.mav_comp_id;
mav_comp_id != p.mav_comp_id ||
mnt_rc_in_mode != p.mnt_rc_in_mode;
#pragma GCC diagnostic pop
}
@@ -155,6 +157,7 @@ struct ParameterHandles {
param_t mav_comp_id;
param_t mnt_rate_pitch;
param_t mnt_rate_yaw;
param_t mnt_rc_in_mode;
};
@@ -261,7 +264,10 @@ static int vmount_thread_main(int argc, char *argv[])
// This logic is done further below while update() is called.
thread_data.input_objs[2] = new InputRC(params.mnt_man_roll,
params.mnt_man_pitch,
params.mnt_man_yaw);
params.mnt_man_yaw,
params.mnt_rate_pitch,
params.mnt_rate_yaw,
params.mnt_rc_in_mode);
thread_data.input_objs_len = 3;
break;
@@ -269,7 +275,10 @@ static int vmount_thread_main(int argc, char *argv[])
case 1: //RC
thread_data.input_objs[0] = new InputRC(params.mnt_man_roll,
params.mnt_man_pitch,
params.mnt_man_yaw);
params.mnt_man_yaw,
params.mnt_rate_pitch,
params.mnt_rate_yaw,
params.mnt_rc_in_mode);
break;
case 2: //MAVLINK_ROI
@@ -583,6 +592,7 @@ void update_params(ParameterHandles &param_handles, Parameters &params, bool &go
param_get(param_handles.mav_comp_id, &params.mav_comp_id);
param_get(param_handles.mnt_rate_pitch, &params.mnt_rate_pitch);
param_get(param_handles.mnt_rate_yaw, &params.mnt_rate_yaw);
param_get(param_handles.mnt_rc_in_mode, &params.mnt_rc_in_mode);
got_changes = prev_params != params;
}
@@ -609,6 +619,7 @@ bool get_params(ParameterHandles &param_handles, Parameters &params)
param_handles.mav_comp_id = param_find("MAV_COMP_ID");
param_handles.mnt_rate_pitch = param_find("MNT_RATE_PITCH");
param_handles.mnt_rate_yaw = param_find("MNT_RATE_YAW");
param_handles.mnt_rc_in_mode = param_find("MNT_RC_IN_MODE");
if (param_handles.mnt_mode_in == PARAM_INVALID ||
param_handles.mnt_mode_out == PARAM_INVALID ||
@@ -629,7 +640,8 @@ bool get_params(ParameterHandles &param_handles, Parameters &params)
param_handles.mav_sys_id == PARAM_INVALID ||
param_handles.mav_comp_id == PARAM_INVALID ||
param_handles.mnt_rate_pitch == PARAM_INVALID ||
param_handles.mnt_rate_yaw == PARAM_INVALID
param_handles.mnt_rate_yaw == PARAM_INVALID ||
param_handles.mnt_rc_in_mode == PARAM_INVALID
) {
return false;
}