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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
2021-10-18 18:55:28 +02:00
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
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@@ -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()