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Use separate arm_request instead of vehicle_command for RC arming

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent c4473bdab7
commit af607e3040
7 changed files with 78 additions and 92 deletions
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src/modules/manual_control/ManualControl.cpp
+11 -19
View File
@@ -119,7 +119,7 @@ void ManualControl::Run()
_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, _selector.setpoint().timestamp);
if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
send_arm_command(vehicle_command_s::ARMING_ACTION_ARM, vehicle_command_s::ARMING_ORIGIN_GESTURE);
sendArmRequest(arm_request_s::ACTION_ARM, arm_request_s::SOURCE_RC_STICK_GESTURE);
}
// Disarm gesture
@@ -130,7 +130,7 @@ void ManualControl::Run()
_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, _selector.setpoint().timestamp);
if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM, vehicle_command_s::ARMING_ORIGIN_GESTURE);
sendArmRequest(arm_request_s::ACTION_DISARM, arm_request_s::SOURCE_RC_STICK_GESTURE);
}
// User override by stick
@@ -165,20 +165,17 @@ void ManualControl::Run()
_button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now);
if (!previous_button_hysteresis && _button_hysteresis.get_state()) {
send_arm_command(vehicle_command_s::ARMING_ACTION_TOGGLE,
vehicle_command_s::ARMING_ORIGIN_BUTTON);
sendArmRequest(arm_request_s::ACTION_TOGGLE, arm_request_s::SOURCE_RC_BUTTON);
}
} else {
// Arming switch
if (switches.arm_switch != _previous_switches.arm_switch) {
if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_arm_command(vehicle_command_s::ARMING_ACTION_ARM,
vehicle_command_s::ARMING_ORIGIN_SWITCH);
sendArmRequest(arm_request_s::ACTION_ARM, arm_request_s::SOURCE_RC_SWITCH);
} else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) {
send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM,
vehicle_command_s::ARMING_ORIGIN_SWITCH);
sendArmRequest(arm_request_s::ACTION_DISARM, arm_request_s::SOURCE_RC_SWITCH);
}
}
}
@@ -419,18 +416,13 @@ void ManualControl::send_mode_command(int32_t commander_main_state)
command_pub.publish(command);
}
void ManualControl::send_arm_command(int8_t action, int8_t origin)
void ManualControl::sendArmRequest(int8_t action, int8_t source)
{
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
command.param1 = static_cast<float>(action);
command.param3 = static_cast<float>(origin); // We use param3 to signal the origin.
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
command_pub.publish(command);
arm_request_s arm_request{};
arm_request.action = action;
arm_request.source = source;
arm_request.timestamp = hrt_absolute_time();
_arm_request_pub.publish(arm_request);
}
void ManualControl::send_rtl_command()
src/modules/manual_control/ManualControl.hpp
+3 -1
View File
@@ -40,6 +40,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <uORB/topics/arm_request.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -120,7 +121,7 @@ private:
void evaluate_mode_slot(uint8_t mode_slot);
void send_mode_command(int32_t commander_main_state);
void send_arm_command(int8_t action, int8_t origin);
void sendArmRequest(int8_t action, int8_t source);
void send_rtl_command();
void send_loiter_command();
void send_offboard_command();
@@ -128,6 +129,7 @@ private:
void publish_landing_gear(int8_t action);
void send_vtol_transition_command(uint8_t action);
uORB::Publication<arm_request_s> _arm_request_pub{ORB_ID(arm_request)};
uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};