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ManualControl: add option to prioritize RC or MAVLink but with fallback

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This commit is contained in:
Matthias Grob
2025-07-31 11:34:53 +02:00
parent b876aa5b45
commit a09352c079
4 changed files with 202 additions and 11 deletions
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src/modules/manual_control/ManualControlSelector.hpp
+4
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@@ -48,10 +48,14 @@ public:
private:
bool isInputValid(const manual_control_setpoint_s &input, uint64_t now) const;
static bool isRc(uint8_t source);
static bool isMavlink(uint8_t source);
manual_control_setpoint_s _setpoint{};
uint64_t _timeout{0};
int32_t _rc_in_mode{0};
int _instance{-1};
uint8_t _first_valid_source{manual_control_setpoint_s::SOURCE_UNKNOWN};
uint64_t _timestamp_last_rc{0};
uint64_t _timestamp_last_mavlink{0};
};