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Commander: gate manual control setpoint processing on new data

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This commit is contained in:
Matthias Grob
2021-02-22 11:34:44 +01:00
parent 935423b563
commit a43a829fdf
3 changed files with 30 additions and 20 deletions
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src/modules/commander/ManualControl.cpp
+7 -1
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@@ -42,8 +42,10 @@ enum OverrideBits {
OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
};
void ManualControl::update()
bool ManualControl::update()
{
bool ret = false;
_rc_available = _rc_allowed
&& _last_manual_control_setpoint.timestamp != 0
&& (hrt_elapsed_time(&_last_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));
@@ -54,7 +56,11 @@ void ManualControl::update()
if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
process(manual_control_setpoint);
}
ret = true;
}
return ret && _rc_available;
}
void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)