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drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539)

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Co-authored-by: chris1seto <chris12892@gmail.com>

Co-authored-by: chris1seto <chris12892@gmail.com>
This commit is contained in:
Daniel Agar
2022-04-27 21:06:43 -06:00
committed by GitHub
co-authored by chris1seto
parent fc7e979d84
commit a15432fac1
3 changed files with 70 additions and 14 deletions
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src/drivers/rc_input/RCInput.cpp
+32 -3
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -63,6 +63,10 @@ RCInput::RCInput(const char *device) :
strncpy(_device, device, sizeof(_device) - 1);
_device[sizeof(_device) - 1] = '\0';
}
if ((_param_rc_input_proto.get() >= 0) && (_param_rc_input_proto.get() <= RC_SCAN::RC_SCAN_GHST)) {
_rc_scan_state = static_cast<RC_SCAN>(_param_rc_input_proto.get());
}
}
RCInput::~RCInput()
@@ -251,9 +255,21 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
void RCInput::set_rc_scan_state(RC_SCAN newState)
{
PX4_DEBUG("RCscan: %s failed, trying %s", RCInput::RC_SCAN_STRING[_rc_scan_state], RCInput::RC_SCAN_STRING[newState]);
if ((_param_rc_input_proto.get() > RC_SCAN::RC_SCAN_NONE)
&& (_param_rc_input_proto.get() <= RC_SCAN::RC_SCAN_GHST)) {
_rc_scan_state = static_cast<RC_SCAN>(_param_rc_input_proto.get());
} else if (_param_rc_input_proto.get() < 0) {
// only auto change if RC_INPUT_PROTO set to auto (-1)
PX4_DEBUG("RCscan: %s failed, trying %s", RCInput::RC_SCAN_STRING[_rc_scan_state], RCInput::RC_SCAN_STRING[newState]);
_rc_scan_state = newState;
} else {
_rc_scan_state = RC_SCAN::RC_SCAN_NONE;
}
_rc_scan_begin = 0;
_rc_scan_state = newState;
_rc_scan_locked = false;
_report_lock = true;
@@ -419,6 +435,10 @@ void RCInput::Run()
}
switch (_rc_scan_state) {
case RC_SCAN_NONE:
// do nothing
break;
case RC_SCAN_SBUS:
if (_rc_scan_begin == 0) {
_rc_scan_begin = cycle_timestamp;
@@ -737,6 +757,12 @@ void RCInput::Run()
if (_report_lock && _rc_scan_locked) {
_report_lock = false;
PX4_INFO("RC scan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
if (!_armed && (_param_rc_input_proto.get() < 0)) {
// RC_INPUT_PROTO auto => locked selection
_param_rc_input_proto.set(_rc_scan_state);
_param_rc_input_proto.commit();
}
}
}
}
@@ -823,6 +849,9 @@ int RCInput::print_status()
if (_rc_scan_locked) {
switch (_rc_scan_state) {
case RC_SCAN_NONE:
break;
case RC_SCAN_CRSF:
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
break;